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Merged
madhephaestus merged 2 commits into from
Jan 23, 2026
Merged

Virtual camera cleanup and zoomDepth bugfix #468

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4e1b670
Virtual camera cleanup and zoomDepth bugfix
rondlh Jan 22, 2026
147b74b
Also fix typo Orentation -> Orientation to fix build
rondlh Jan 22, 2026
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2 changes: 1 addition & 1 deletion src/main/java/com/neuronrobotics/bowlerstudio/threed/BowlerStudio3dEngine.java
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Original file line number Diff line number Diff line change
Expand Up @@ -1846,7 +1846,7 @@ private void runSyncFocus(TransformNR orent, TransformNR trans, double zoom) {
}
}
BowlerStudio.runLater(() -> {
getFlyingCamera().SetOrentation(orent);
getFlyingCamera().SetOrientation(orent);
getFlyingCamera().SetPosition(trans);
});

Expand Down
80 changes: 41 additions & 39 deletions src/main/java/com/neuronrobotics/bowlerstudio/threed/VirtualCameraMobileBase.java
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Original file line number Diff line number Diff line change
Expand Up @@ -63,13 +63,13 @@ public VirtualCameraMobileBase addListener(ICameraChangeListener l) {
return this;
}
public VirtualCameraMobileBase removeListener(ICameraChangeListener l) {
if(listeners.contains(l))
if (listeners.contains(l))
listeners.remove(l);
return this;
}
public void fireUpdate() {
synchronizePositionWithOtherFlyingCamera(myGlobal);
for(ICameraChangeListener c:listeners) {
for (ICameraChangeListener c:listeners) {
try {
c.onChange(this);
}catch(Throwable t) {
Expand All @@ -86,30 +86,29 @@ public void setGlobalToFiducialTransform(TransformNR defautcameraView) {

public void updatePositions() {

if(System.currentTimeMillis()-timeSinceLastUpdate>16) {
timeSinceLastUpdate=System.currentTimeMillis();
error=false;
if (System.currentTimeMillis() - timeSinceLastUpdate > 16) {
timeSinceLastUpdate = System.currentTimeMillis();
error = false;
TransformFactory.nrToAffine(myGlobal, camerUserPerspective);
}else {
// too soon
error=true;
error = true;
}
}

public TransformNR getFiducialToGlobalTransform() {
return myGlobal;
}

public void DrivePositionAbsolute(double x, double y, double z) {
TransformNR global = getFiducialToGlobalTransform().copy()
.translateX(x)
.translateY(y)
.translateZ(z);
.translateX(x).translateY(y).translateZ(z);
setGlobalToFiducialTransform(global);

}

public void DriveArc(TransformNR newPose) {
TransformNR pureTrans = new TransformNR();
if(move) {
if (move) {
pureTrans.setX(newPose.getX());
pureTrans.setY(newPose.getY());
pureTrans.setZ(newPose.getZ());
Expand All @@ -121,26 +120,25 @@ public void DriveArc(TransformNR newPose) {
double rotationElevationRadians = newPose.getRotation().getRotationElevationRadians();

global.setRotation(new RotationNR(
(Math.toDegrees(
rotationTiltRadians + global.getRotation().getRotationTiltRadians()) % 360),
(Math.toDegrees(
rotationAzimuthRadians + global.getRotation().getRotationAzimuthRadians()) % 360),
Math.toDegrees(
rotationElevationRadians + global.getRotation().getRotationElevationRadians())));
(Math.toDegrees(rotationTiltRadians + global.getRotation().getRotationTiltRadians()) % 360),
(Math.toDegrees(rotationAzimuthRadians + global.getRotation().getRotationAzimuthRadians()) % 360),
Math.toDegrees(rotationElevationRadians + global.getRotation().getRotationElevationRadians())));

// global.getRotation().setStorage(nr);
//com.neuronrobotics.sdk.common.Log.error("Camera tilt="+global);
// New target calculated appliaed to global offset
setGlobalToFiducialTransform(global);
}

public void SetPosition(TransformNR newPose) {
if(newPose==null || !move)
if ((newPose == null) || !move)
return;
setGlobalToFiducialTransform(newPose.copy().setRotation(getFiducialToGlobalTransform().getRotation()));
}
public void SetOrentation(TransformNR newPose) {
if(newPose==null)
public void SetOrientation(TransformNR newPose) {
if (newPose == null)
return;
//newPose=CameraGlobalOffset.times(newPose);
//newPose = CameraGlobalOffset.times(newPose);
// TransformNR pureTrans = new TransformNR();
//
// // Auto-generated method stub
Expand All @@ -150,8 +148,8 @@ public void SetOrentation(TransformNR newPose) {

TransformNR global = getFiducialToGlobalTransform().copy();
// use the camera global fraame elevation
double rotationElevationDegrees = -newPose.getRotation().getRotationElevationDegrees()-90;
double azimuth = 90-Math.toDegrees(
double rotationElevationDegrees = -newPose.getRotation().getRotationElevationDegrees() - 90;
double azimuth = 90 - Math.toDegrees(
newPose.getRotation().getRotationAzimuthRadians() );
// Apply globals to the internal camer frame
global.setRotation(new RotationNR(
Expand All @@ -172,12 +170,15 @@ public double getTiltAngle() {
public double getGlobalX() {
return getFiducialToGlobalTransform().getX();
}

public double getGlobalY() {
return getFiducialToGlobalTransform().getY();
}

public double getGlobalZ() {
return getFiducialToGlobalTransform().getZ();
}

public TransformNR getCamerFrame() {
TransformNR offset = TransformFactory.affineToNr(getOffset());
TransformNR fiducialToGlobalTransform = getFiducialToGlobalTransform();
Expand Down Expand Up @@ -205,19 +206,20 @@ public double getZoomDepth() {
}

public void setZoomDepth(double zoomDepth) {
if(zoomlock)
if (zoomlock)
throw new RuntimeException("Zoom can not be set when locked");
if (zoomDepth > 2)
zoomDepth = 2;
if (zoomDepth < -9000)
zoomDepth = -9000;

// Clamp zoomDepth between -9000 and -2
zoomDepth = Math.max(-9000, Math.min(-2, zoomDepth));

this.zoomDepth = zoomDepth;
if(zoomDepth<-5000)
camera.setFarClip(-zoomDepth*2);
else
camera.setFarClip(10000);
zoomAffine.setTz(getZoomDepth());
fireUpdate();

// Dynamically adjust setFarClip to reduce Z-fighting
camera.setFarClip(Math.max(1500, -zoomDepth * 2));

zoomAffine.setTz(zoomDepth);

fireUpdate();
}

public static int getDefaultZoomDepth() {
Expand All @@ -229,20 +231,21 @@ public static Affine getOffset() {
}

public void bind(VirtualCameraMobileBase f) {
if(flyingCamera.contains(f)) {
if (flyingCamera.contains(f)) {
return;
}
this.flyingCamera .add(f);
}

private void synchronizePositionWithOtherFlyingCamera(TransformNR n) {

for(VirtualCameraMobileBase cam:flyingCamera) {
for (VirtualCameraMobileBase cam:flyingCamera) {
RotationNR rotation = getFiducialToGlobalTransform().getRotation();
if (!zoomlock && !cam.zoomlock && ((int)cam.getZoomDepth())!=((int)getZoomDepth())) {
if (!zoomlock && !cam.zoomlock && ((int)cam.getZoomDepth()) != ((int)getZoomDepth())) {
//com.neuronrobotics.sdk.common.Log.error(name+" Sync zoom to "+cam.name);
cam.setZoomDepth(zoomDepth);
}
if(rotation==cam.myGlobal.getRotation())
if (rotation == cam.myGlobal.getRotation())
continue;
//com.neuronrobotics.sdk.common.Log.error(name+" pusing update to "+cam.name);
if(!cam.move || !move) {
Expand Down Expand Up @@ -270,5 +273,4 @@ public void lockMove() {
move = false;
}


}