Format constants file better
Update constants_formatting to match google style guide, and output
clang-formatted output.
Change-Id: Ic04798c85193cab525e243be5a934d6217937517
diff --git a/y2019/vision/constants.cc b/y2019/vision/constants.cc
index fa7c130..bc8a56d 100644
--- a/y2019/vision/constants.cc
+++ b/y2019/vision/constants.cc
@@ -7,85 +7,108 @@
CameraCalibration camera_4 = {
{
- 3.73623 / 180.0 * M_PI, 588.1, 0.269291 / 180.0 * M_PI,
+ 3.73623 / 180.0 * M_PI, 588.1, 0.269291 / 180.0 * M_PI,
},
{
- {{6.02674 * kInchesToMeters, 4.57805 * kInchesToMeters,
- 33.3849 * kInchesToMeters}},
- 22.4535 / 180.0 * M_PI,
+ {{6.02674 * kInchesToMeters, 4.57805 * kInchesToMeters,
+ 33.3849 * kInchesToMeters}},
+ 22.4535 / 180.0 * M_PI,
},
{
- 4,
- {{12.5 * kInchesToMeters, 12 * kInchesToMeters}},
- {{1 * kInchesToMeters, 0.0}},
- 26,
- "cam4_0/debug_viewer_jpeg_",
- 52,
+ 4,
+ {{12.5 * kInchesToMeters, 12 * kInchesToMeters}},
+ {{1 * kInchesToMeters, 0.0}},
+ 26,
+ "cam4_0/debug_viewer_jpeg_",
+ 52,
}};
CameraCalibration camera_5 = {
{
- 1.00774 / 180.0 * M_PI, 658.554, 2.43864 / 180.0 * M_PI,
+ 1.00774 / 180.0 * M_PI, 658.554, 2.43864 / 180.0 * M_PI,
},
{
- {{5.51248 * kInchesToMeters, 2.04087 * kInchesToMeters,
- 33.2555 * kInchesToMeters}},
- -13.1396 / 180.0 * M_PI,
+ {{5.51248 * kInchesToMeters, 2.04087 * kInchesToMeters,
+ 33.2555 * kInchesToMeters}},
+ -13.1396 / 180.0 * M_PI,
},
{
- 5,
- {{12.5 * kInchesToMeters, 0.5 * kInchesToMeters}},
- {{1 * kInchesToMeters, 0.0}},
- 26,
- "cam5_0/debug_viewer_jpeg_",
- 59,
+ 5,
+ {{12.5 * kInchesToMeters, 0.5 * kInchesToMeters}},
+ {{1 * kInchesToMeters, 0.0}},
+ 26,
+ "cam5_0/debug_viewer_jpeg_",
+ 59,
+ }};
+
+CameraCalibration camera_10 = {
+ {
+ 0.0429164 / 180.0 * M_PI, 337.247, 0.865625 / 180.0 * M_PI,
+ },
+ {
+ {{20.5486 * kInchesToMeters, -2.47638 * kInchesToMeters,
+ 33.1395 * kInchesToMeters}},
+ 2.08049 / 180.0 * M_PI,
+ },
+ {
+ 10,
+ {{12.5 * kInchesToMeters, 0.5 * kInchesToMeters}},
+ {{1 * kInchesToMeters, 0.0}},
+ 26,
+ "data/cam10_0/debug_viewer_jpeg_",
+ 59,
}};
CameraCalibration camera_16 = {
{
- -1.30906 / 180.0 * M_PI, 347.372, 2.18486 / 180.0 * M_PI,
+ -1.30906 / 180.0 * M_PI, 347.372, 2.18486 / 180.0 * M_PI,
},
{
- {{4.98126 * kInchesToMeters, 1.96988 * kInchesToMeters,
- 33.4276 * kInchesToMeters}},
- -12.2377 / 180.0 * M_PI,
+ {{4.98126 * kInchesToMeters, 1.96988 * kInchesToMeters,
+ 33.4276 * kInchesToMeters}},
+ -12.2377 / 180.0 * M_PI,
},
{
- 16,
- {{12.5 * kInchesToMeters, 0.5 * kInchesToMeters}},
- {{1 * kInchesToMeters, 0.0}},
- 16,
- "cam16/debug_viewer_jpeg_",
- 55,
+ 16,
+ {{12.5 * kInchesToMeters, 0.5 * kInchesToMeters}},
+ {{1 * kInchesToMeters, 0.0}},
+ 16,
+ "cam16/debug_viewer_jpeg_",
+ 55,
}};
-// Note: x/y should be negated and heading should be offset by 180 deg to
-// account for this being calibrated on the rear of the robot.
CameraCalibration camera_19 = {
{
- -0.341036 / 180.0 * M_PI, 324.626, 1.2545 / 180.0 * M_PI,
+ -0.341036 / 180.0 * M_PI, 324.626, 1.2545 / 180.0 * M_PI,
},
{
- {{6.93309 * kInchesToMeters, -2.64735 * kInchesToMeters,
- 32.8758 * kInchesToMeters}},
- 2.58102 / 180.0 * M_PI,
+ {{6.93309 * kInchesToMeters, -2.64735 * kInchesToMeters,
+ 32.8758 * kInchesToMeters}},
+ 2.58102 / 180.0 * M_PI,
},
{
- 19,
- {{12.5 * kInchesToMeters, 0.5 * kInchesToMeters}},
- {{1 * kInchesToMeters, 0.0}},
- 16,
- "cam19/debug_viewer_jpeg_",
- 68,
+ 19,
+ {{12.5 * kInchesToMeters, 0.5 * kInchesToMeters}},
+ {{1 * kInchesToMeters, 0.0}},
+ 16,
+ "cam19/debug_viewer_jpeg_",
+ 68,
}};
const CameraCalibration *GetCamera(int camera_id) {
switch (camera_id) {
- case 4: return &camera_4;
- case 5: return &camera_5;
- case 16: return &camera_16;
- case 19: return &camera_19;
- default: return nullptr;
+ case 4:
+ return &camera_4;
+ case 5:
+ return &camera_5;
+ case 10:
+ return &camera_10;
+ case 16:
+ return &camera_16;
+ case 19:
+ return &camera_19;
+ default:
+ return nullptr;
}
}