private void determineIntrinsicParameters(int width, int height) { try { intrinsicParameters = cameraInfoSubscriber.getIntrinsicParametersBlocking(); } catch (InterruptedException e) { System.out.println("Use default intrinsic parameters"); intrinsicParameters = new IntrinsicParameters(); intrinsicParameters.width = width; intrinsicParameters.height = height; intrinsicParameters.cx = width / 2; intrinsicParameters.cy = height / 2; intrinsicParameters.fx = intrinsicParameters.cx / Math.tan(UtilAngle.degreeToRadian(30)); // assume 60 degree FOV intrinsicParameters.fy = intrinsicParameters.cx / Math.tan(UtilAngle.degreeToRadian(30)); } detector.setIntrinsic(intrinsicParameters); }
public RosFiducialDetector(RosMainNode rosMainNode, String imageTopic, String cameraInfoTopic, FiducialDetector<GrayF32> detector) { cameraInfoSubscriber = new RosCameraInfoSubscriber(rosMainNode, cameraInfoTopic); rosMainNode.attachPublisher("/tf", tfPublisher); rosMainNode.attachSubscriber(imageTopic, this); this.detector = detector; if(VISUALIZE) { imagePanel= new ImagePanel(100, 100); frame=ShowImages.showWindow(imagePanel, "Fiducials"); } }
public RosFiducialDetector(RosMainNode rosMainNode, String imageTopic, String cameraInfoTopic, FiducialDetector<GrayF32> detector) { cameraInfoSubscriber = new RosCameraInfoSubscriber(rosMainNode, cameraInfoTopic); rosMainNode.attachPublisher("/tf", tfPublisher); rosMainNode.attachSubscriber(imageTopic, this); this.detector = detector; if(VISUALIZE) { imagePanel= new ImagePanel(100, 100); frame=ShowImages.showWindow(imagePanel, "Fiducials"); } }
private void determineIntrinsicParameters(int width, int height) { try { intrinsicParameters = cameraInfoSubscriber.getIntrinsicParametersBlocking(); } catch (InterruptedException e) { System.out.println("Use default intrinsic parameters"); intrinsicParameters = new IntrinsicParameters(); intrinsicParameters.width = width; intrinsicParameters.height = height; intrinsicParameters.cx = width / 2; intrinsicParameters.cy = height / 2; intrinsicParameters.fx = intrinsicParameters.cx / Math.tan(UtilAngle.degreeToRadian(30)); // assume 60 degree FOV intrinsicParameters.fy = intrinsicParameters.cx / Math.tan(UtilAngle.degreeToRadian(30)); } detector.setIntrinsic(intrinsicParameters); }