How to use

CameraConfiguration

in

us.ihmc.jMonkeyEngineToolkit.camera

private void setupCameraForUnitTest(SimulationConstructionSet scs)
{
 CameraConfiguration cameraConfiguration = new CameraConfiguration("testCamera");
 cameraConfiguration.setCameraFix(0.6, 0.4, 1.1);
 cameraConfiguration.setCameraPosition(-0.15, 10.0, 3.0);
 cameraConfiguration.setCameraTracking(true, true, true, false);
 cameraConfiguration.setCameraDolly(true, true, true, false);
 scs.setupCamera(cameraConfiguration);
 scs.selectCamera("testCamera");
}

public String[] getCameraConfigurationNames()
{
 int n = configs.size();
 String[] ret = new String[n];
 for (int i = 0; i < n; i++)
 {
   ret[i] = (configs.get(i)).getName();
 }
 return ret;
}

public void initializeGUI(SimulationConstructionSet scs, Robot robot, DRCRobotModel robotModel)
 CameraConfiguration behindPelvis = new CameraConfiguration("BehindPelvis");
 behindPelvis.setCameraTracking(false, true, true, false);
 behindPelvis.setCameraDolly(false, true, true, false);
 behindPelvis.setCameraFix(0.0, 0.0, 1.0);
 behindPelvis.setCameraPosition(-2.5, 0.0, 1.0);
 behindPelvis.setCameraTrackingVars("q_x", "q_y", "q_z");
 scs.setupCamera(behindPelvis);
    CameraConfiguration camera = new CameraConfiguration(cameraInfo[i].getSensorNameInSdf());
    camera.setCameraMount(cameraInfo[i].getSensorNameInSdf());
    scs.setupCamera(camera);

int height = sdfRobot.getCameraMount(cameraName).getImageHeight();
CameraConfiguration cameraConfiguration = new CameraConfiguration(cameraName);
cameraConfiguration.setCameraMount(cameraName);

public void setCameraFix(Tuple3DBasics cameraFix)
{
 setCameraFix(cameraFix.getX(), cameraFix.getY(), cameraFix.getZ());
}

public void setCameraPosition(Tuple3d cameraPosition)
{
 setCameraPosition(cameraPosition.getX(), cameraPosition.getY(), cameraPosition.getZ());
}

private CameraConfiguration createCameraConfiguration(String name)
{
 return new CameraConfiguration(name);
}

  return;
this.isMounted = config.isCameraMounted();
if (isMounted && (mountList != null))
  this.cameraMount = mountList.getCameraMount(config.getCameraMountName());

public void initializeGUI(SimulationConstructionSet scs, Robot robot, DRCRobotModel robotModel)
 CameraConfiguration behindPelvis = new CameraConfiguration("BehindPelvis");
 behindPelvis.setCameraTracking(false, true, true, false);
 behindPelvis.setCameraDolly(false, true, true, false);
 behindPelvis.setCameraFix(0.0, 0.0, 1.0);
 behindPelvis.setCameraPosition(-2.5, 0.0, 1.0);
 behindPelvis.setCameraTrackingVars("q_x", "q_y", "q_z");
 scs.setupCamera(behindPelvis);
    CameraConfiguration camera = new CameraConfiguration(cameraInfo[i].getSensorNameInSdf());
    camera.setCameraMount(cameraInfo[i].getSensorNameInSdf());
    scs.setupCamera(camera);

public LocalObjectCommunicator createSimulatedSensorsPacketCommunicator()
{
 scsSensorOutputPacketCommunicator = new LocalObjectCommunicator();
 if (createSCSSimulatedSensors)
 {
   DRCRobotSensorInformation sensorInformation = robotModel.getSensorInformation();
   DRCRobotJointMap jointMap = robotModel.getJointMap();
   TimestampProvider timeStampProvider = avatarSimulation.getSimulatedRobotTimeProvider();
   HumanoidFloatingRootJointRobot robot = avatarSimulation.getHumanoidFloatingRootJointRobot();
   Graphics3DAdapter graphics3dAdapter = simulationConstructionSet.getGraphics3dAdapter();
   printIfDebug("Streaming SCS Video");
   DRCRobotCameraParameters cameraParameters = sensorInformation.getCameraParameters(0);
   if (cameraParameters != null)
   {
    String cameraName = cameraParameters.getSensorNameInSdf();
    int width = sdfRobot.getCameraMount(cameraName).getImageWidth();
    int height = sdfRobot.getCameraMount(cameraName).getImageHeight();
    CameraConfiguration cameraConfiguration = new CameraConfiguration(cameraName);
    cameraConfiguration.setCameraMount(cameraName);
    int framesPerSecond = 25;
    DRCRenderedSceneVideoHandler drcRenderedSceneVideoHandler = new DRCRenderedSceneVideoHandler(scsSensorOutputPacketCommunicator);
    simulationConstructionSet.startStreamingVideoData(cameraConfiguration, width, height, drcRenderedSceneVideoHandler, timeStampProvider, framesPerSecond);
   }
   for (DRCRobotLidarParameters lidarParams : sensorInformation.getLidarParameters())
   {
    DRCLidar.setupDRCRobotLidar(robot, graphics3dAdapter, scsSensorOutputPacketCommunicator, jointMap, lidarParams, timeStampProvider, true);
   }
 }
 return scsSensorOutputPacketCommunicator;
}

public void setCameraFix(Tuple3d cameraFix)
{
 setCameraFix(cameraFix.getX(), cameraFix.getY(), cameraFix.getZ());
}

public void setCameraPosition(Tuple3DBasics cameraPosition)
{
 setCameraPosition(cameraPosition.getX(), cameraPosition.getY(), cameraPosition.getZ());
}

  return;
this.isMounted = config.isCameraMounted();
if (isMounted && (mountList != null))
  this.cameraMount = mountList.getCameraMount(config.getCameraMountName());

public void setupCameraForUnitTest(Point3D cameraFix, Point3D cameraPosition)
{
 CameraConfiguration cameraConfiguration = new CameraConfiguration("testCamera");
 cameraConfiguration.setCameraFix(cameraFix);
 cameraConfiguration.setCameraPosition(cameraPosition);
 cameraConfiguration.setCameraTracking(false, true, true, false);
 cameraConfiguration.setCameraDolly(false, true, true, false);
 scs.setupCamera(cameraConfiguration);
 scs.selectCamera("testCamera");
}

public String[] getCameraConfigurationNames()
{
 int n = configs.size();
 String[] ret = new String[n];
 for (int i = 0; i < n; i++)
 {
   ret[i] = (configs.get(i)).getName();
 }
 return ret;
}

private void setupCameraForUnitTest(SimulationConstructionSet scs)
{
 CameraConfiguration cameraConfiguration = new CameraConfiguration("testCamera");
 cameraConfiguration.setCameraFix(0.6, 0.4, 1.1);
 cameraConfiguration.setCameraPosition(-0.15, 10.0, 3.0);
 cameraConfiguration.setCameraTracking(true, true, true, false);
 cameraConfiguration.setCameraDolly(true, true, true, false);
 scs.setupCamera(cameraConfiguration);
 scs.selectCamera("testCamera");
}

  public CameraConfiguration getCameraConfiguration(String name)
  {
   int n = configs.size();

   for (int i = 0; i < n; i++)
   {
     CameraConfiguration config = (configs.get(i));

     if (config.getName().equals(name))
      return config;
   }

   return null;
  }
}

  protected void setupCameraForUnitTest(SimulationConstructionSet scs)
  {
   CameraConfiguration cameraConfiguration = new CameraConfiguration("testCamera");
   cameraConfiguration.setCameraFix(0.6, 0.4, 1.1);
   cameraConfiguration.setCameraPosition(-0.15, 10.0, 3.0);
   cameraConfiguration.setCameraTracking(true, true, true, false);
   cameraConfiguration.setCameraDolly(true, true, true, false);
   scs.setupCamera(cameraConfiguration);
   scs.selectCamera("testCamera");
  }
}

  public CameraConfiguration getCameraConfiguration(String name)
  {
   int n = configs.size();

   for (int i = 0; i < n; i++)
   {
     CameraConfiguration config = (configs.get(i));

     if (config.getName().equals(name))
      return config;
   }

   return null;
  }
}

public void setupCameraForUnitTest(boolean enableTracking, Point3D cameraFix, Point3D cameraPosition)
{
 CameraConfiguration cameraConfiguration = new CameraConfiguration("testCamera");
 cameraConfiguration.setCameraFix(cameraFix);
 cameraConfiguration.setCameraPosition(cameraPosition);
 cameraConfiguration.setCameraTracking(enableTracking, true, true, false);
 cameraConfiguration.setCameraDolly(false, true, true, false);
 scs.setupCamera(cameraConfiguration);
 scs.selectCamera("testCamera");
}