video_dimensions.ts

export interface Dimension {
    w: number,
    h: number,
    fps: number
}

export interface Crop {
    sx: number,
    sy: number,
    sw: number,
    sh: number,
    dx: number,
    dy: number,
    dw: number,
    dh: number
}

export const realsenseDimensions: Dimension = {w: 640, h: 360, fps: 6.0}
export const wideVideoDimensions: Dimension = {w: 1024, h: 768, fps: 6.0}
export const gripperCrop: Crop = computeCrop(wideVideoDimensions, 0.8, 1.0)
export const overheadNavCrop = ((x, y) => {
        return {
            sx: wideVideoDimensions.w * (1.0 - x) / 2.0,
            sy: 0, // get more from the top
            sw: wideVideoDimensions.w * x,
            sh: wideVideoDimensions.h * y,
            dx: 0,
            dy: 0,
            dw: wideVideoDimensions.w * x,
            dh: wideVideoDimensions.h * y
        }
    }
)(0.75, 1.0)

export const overheadManipCrop: Crop = ((x: number, y: number) => {
    return {
        sx: wideVideoDimensions.w * (1.0 - x) * 1.2, //get more from the right
        sy: wideVideoDimensions.w * 0.045, // get more from the top
	    sw: wideVideoDimensions.w / 1.3,
	    sh: wideVideoDimensions.h / 1.3,
        dx: 0,
        dy: 0,
        dw: wideVideoDimensions.w,
        dh: wideVideoDimensions.w,
    }
})(0.75, 1.0)

function computeCrop(original: Dimension, x: number, y: number): Crop {
    return {
        sx: Math.round(original.w * (1.0 - x) / 2.0),
        sy: Math.round(original.h * (1.0 - y) / 2.0),
        sw: Math.round(original.w * x),
        sh: Math.round(original.h * y),
        dx: 0,
        dy: 0,
        dw: Math.round(original.w * x),
        dh: Math.round(original.h * y)
    };
}

function computeZoomCrop(original: Dimension, factor: number): Crop {
    return {
        sx: original.w * (1.0 - 1.0 / factor) / 2.0,
        sy: original.h * (1.0 - 1.0 / factor) / 2.0,
        sw: original.w / factor,
        sh: original.h / factor,
        dx: 0,
        dy: 0,
        dw: original.w,
        dh: original.h
    };
}