PER.rover.control
Class VisionUtil

java.lang.Object
  extended byPER.rover.control.VisionUtil

public class VisionUtil
extends java.lang.Object

Utilities for vision. Primarily conversions of different sorts.


Field Summary
static int CAMERA_HEIGHT
          The height of the camera in cm
static int FOV_HEIGHT
           
static int FOV_WIDTH
           
static int TRACK_HEIGHT
           
static int TRACK_WIDTH
           
 
Constructor Summary
VisionUtil()
          Creates a new instance of VisionUtil
 
Method Summary
static int objectPan(int trackX)
          Converts a trackX value into a pan adjustment.
static int objectTilt(int trackY)
          Converts a trackY value into a tilt adjustment.
static boolean v4l_yuv420p2rgb(byte[] yuv_in, int width, int height, int[] rgb_out)
           
static boolean v4l_yuv420p2yuv(byte[] yuv_in, int width, int height, int[] yuv_out)
           
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

TRACK_WIDTH

public static final int TRACK_WIDTH
See Also:
Constant Field Values

TRACK_HEIGHT

public static final int TRACK_HEIGHT
See Also:
Constant Field Values

FOV_WIDTH

public static final int FOV_WIDTH
See Also:
Constant Field Values

FOV_HEIGHT

public static final int FOV_HEIGHT
See Also:
Constant Field Values

CAMERA_HEIGHT

public static final int CAMERA_HEIGHT
The height of the camera in cm

See Also:
Constant Field Values
Constructor Detail

VisionUtil

public VisionUtil()
Creates a new instance of VisionUtil

Method Detail

v4l_yuv420p2rgb

public static boolean v4l_yuv420p2rgb(byte[] yuv_in,
                                      int width,
                                      int height,
                                      int[] rgb_out)

v4l_yuv420p2yuv

public static boolean v4l_yuv420p2yuv(byte[] yuv_in,
                                      int width,
                                      int height,
                                      int[] yuv_out)

objectPan

public static int objectPan(int trackX)
Converts a trackX value into a pan adjustment. To find the real location of an object, take pan + objectPan(trackX)

Parameters:
trackX - The trackX value from color tracking.
Returns:
the amount by which you should adjust the pan.

objectTilt

public static int objectTilt(int trackY)
Converts a trackY value into a tilt adjustment. To find the real location of an object, take tilt + objectTilt(trackY)

Parameters:
trackY - The trackY value from color tracking.
Returns:
the amount by which you should adjust the tilt.