def __init__(self):
""" Init the Camera object.
Load values from preferences.
"""
self.lens = Lens()
def __init__(self):
""" Init the Camera object.
Load values from preferences.
"""
self.lens = Lens()
class Camera(object):
""" Camera model.
"""
def __init__(self):
""" Init the Camera object.
Load values from preferences.
"""
self.lens = Lens()
def __getSensorCoef(self):
"""
"""
return ConfigManager().getFloat('Configuration/CAMERA_SENSOR_COEF')
def __setSensorCoef(self, sensorCoef):
"""
"""
ConfigManager().setFloat('Configuration/CAMERA_SENSOR_COEF', sensorCoef, 1)
sensorCoef = property(__getSensorCoef, __setSensorCoef)
def __getSensorRatio(self):
"""
"""
return ConfigManager().get('Configuration/CAMERA_SENSOR_RATIO')
def __setSensorRatio(self, sensorRatio):
"""
"""
ConfigManager().set('Configuration/CAMERA_SENSOR_RATIO', sensorRatio)
sensorRatio = property(__getSensorRatio, __setSensorRatio)
def __getSensorResolution(self):
"""
"""
return ConfigManager().getFloat('Configuration/CAMERA_SENSOR_RESOLUTION')
def __setSensorResolution(self, resolution):
"""
"""
ConfigManager().setFloat('Configuration/CAMERA_SENSOR_RESOLUTION', resolution, 1)
sensorResolution = property(__getSensorResolution, __setSensorResolution)
def getYawFov(self, cameraOrientation):
""" Compute the yaw FoV.
@return: yaw FoV of the image
@rtype: float
"""
if cameraOrientation == 'landscape':
sensorSize = 36.
elif cameraOrientation == 'portrait':
sensorSize = 36. / config.SENSOR_RATIOS[self.sensorRatio]
else:
raise ValueError("cameraOrientation must be in ('portrait', 'landscape')")
return self.lens.computeFov(sensorSize / self.sensorCoef)
def getPitchFov(self, cameraOrientation):
""" Compute the pitch FoV.
@return: pitch FoV of the image
@rtype: float
"""
if cameraOrientation == 'landscape':
sensorSize = 36. / config.SENSOR_RATIOS[self.sensorRatio]
elif cameraOrientation == 'portrait':
sensorSize = 36.
else:
raise ValueError("cameraOrientation must be in ('portrait', 'landscape')")
return self.lens.computeFov(sensorSize / self.sensorCoef)
def getYawSensorResolution(self, cameraOrientation):
""" Compute the yaw sensor resolution
@return: yaw sensor resolution (px)
@rtype: int
"""
if cameraOrientation == 'landscape':
sensorResolution = round(math.sqrt(self.sensorResolution * 1e6 * config.SENSOR_RATIOS[self.sensorRatio]))
elif cameraOrientation == 'portrait':
sensorResolution = round(math.sqrt(self.sensorResolution * 1e6 / config.SENSOR_RATIOS[self.sensorRatio]))
else:
raise ValueError("cameraOrientation must be in ('portrait', 'landscape')")
return sensorResolution
def getPitchSensorResolution(self, cameraOrientation):
""" Compute the pitch sensor resolution
@return: pitch sensor resolution (px)
@rtype: int
"""
if cameraOrientation == 'landscape':
sensorResolution = round(math.sqrt(self.sensorResolution * 1e6 / config.SENSOR_RATIOS[self.sensorRatio]))
elif cameraOrientation == 'portrait':
sensorResolution = round(math.sqrt(self.sensorResolution * 1e6 * config.SENSOR_RATIOS[self.sensorRatio]))
else:
raise ValueError("cameraOrientation must be in ('portrait', 'landscape')")
return sensorResolution
def shutdown(self):
""" Cleanly terminate the camera.
Save values to preferences.
"""
Logger().trace("Camera.shutdown()")
self.lens.shutdown()
class Camera(object):
""" Camera model.
"""
def __init__(self):
""" Init the Camera object.
Load values from preferences.
"""
self.lens = Lens()
def __getSensorCoef(self):
"""
"""
return ConfigManager().getFloat('Configuration/CAMERA_SENSOR_COEF')
def __setSensorCoef(self, sensorCoef):
"""
"""
ConfigManager().setFloat('Configuration/CAMERA_SENSOR_COEF',
sensorCoef, 1)
sensorCoef = property(__getSensorCoef, __setSensorCoef)
def __getSensorRatio(self):
"""
"""
return ConfigManager().get('Configuration/CAMERA_SENSOR_RATIO')
def __setSensorRatio(self, sensorRatio):
"""
"""
ConfigManager().set('Configuration/CAMERA_SENSOR_RATIO', sensorRatio)
sensorRatio = property(__getSensorRatio, __setSensorRatio)
def __getSensorResolution(self):
"""
"""
return ConfigManager().getFloat(
'Configuration/CAMERA_SENSOR_RESOLUTION')
def __setSensorResolution(self, resolution):
"""
"""
ConfigManager().setFloat('Configuration/CAMERA_SENSOR_RESOLUTION',
resolution, 1)
sensorResolution = property(__getSensorResolution, __setSensorResolution)
def getYawFov(self, cameraOrientation):
""" Compute the yaw FoV.
@return: yaw FoV of the image
@rtype: float
"""
if cameraOrientation == 'landscape':
sensorSize = 36.
elif cameraOrientation == 'portrait':
sensorSize = 36. / config.SENSOR_RATIOS[self.sensorRatio]
else:
raise ValueError(
"cameraOrientation must be in ('portrait', 'landscape')")
return self.lens.computeFov(sensorSize / self.sensorCoef)
def getPitchFov(self, cameraOrientation):
""" Compute the pitch FoV.
@return: pitch FoV of the image
@rtype: float
"""
if cameraOrientation == 'landscape':
sensorSize = 36. / config.SENSOR_RATIOS[self.sensorRatio]
elif cameraOrientation == 'portrait':
sensorSize = 36.
else:
raise ValueError(
"cameraOrientation must be in ('portrait', 'landscape')")
return self.lens.computeFov(sensorSize / self.sensorCoef)
def getYawSensorResolution(self, cameraOrientation):
""" Compute the yaw sensor resolution
@return: yaw sensor resolution (px)
@rtype: int
"""
if cameraOrientation == 'landscape':
sensorResolution = round(
math.sqrt(self.sensorResolution * 1e6 *
config.SENSOR_RATIOS[self.sensorRatio]))
elif cameraOrientation == 'portrait':
sensorResolution = round(
math.sqrt(self.sensorResolution * 1e6 /
config.SENSOR_RATIOS[self.sensorRatio]))
else:
raise ValueError(
"cameraOrientation must be in ('portrait', 'landscape')")
return sensorResolution
def getPitchSensorResolution(self, cameraOrientation):
""" Compute the pitch sensor resolution
@return: pitch sensor resolution (px)
@rtype: int
"""
if cameraOrientation == 'landscape':
sensorResolution = round(
math.sqrt(self.sensorResolution * 1e6 /
config.SENSOR_RATIOS[self.sensorRatio]))
elif cameraOrientation == 'portrait':
sensorResolution = round(
math.sqrt(self.sensorResolution * 1e6 *
config.SENSOR_RATIOS[self.sensorRatio]))
else:
raise ValueError(
"cameraOrientation must be in ('portrait', 'landscape')")
return sensorResolution
def shutdown(self):
""" Cleanly terminate the camera.
Save values to preferences.
"""
Logger().trace("Camera.shutdown()")
self.lens.shutdown()
