Compute the image undistort map only once
Reusing the map is almost 10 times faster than recomputing it each
iteration.
Also cleaned up some reused code between camera reader and viewer.
Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I2c1e6b6b5533054e356eca077778f01f9e8456a1
diff --git a/y2022/vision/camera_reader.cc b/y2022/vision/camera_reader.cc
index 92d3727..0af4afc 100644
--- a/y2022/vision/camera_reader.cc
+++ b/y2022/vision/camera_reader.cc
@@ -21,12 +21,11 @@
using namespace frc971::vision;
-const calibration::CameraCalibration *CameraReader::FindCameraCalibration()
- const {
- const std::string_view node_name = event_loop_->node()->name()->string_view();
- const int team_number = aos::network::GetTeamNumber();
+const calibration::CameraCalibration *CameraReader::FindCameraCalibration(
+ const calibration::CalibrationData *calibration_data,
+ std::string_view node_name, int team_number) {
for (const calibration::CameraCalibration *candidate :
- *calibration_data_->camera_calibrations()) {
+ *calibration_data->camera_calibrations()) {
if (candidate->node_name()->string_view() != node_name) {
continue;
}
@@ -92,9 +91,7 @@
void CameraReader::ProcessImage(cv::Mat image_mat_distorted,
int64_t image_monotonic_timestamp_ns) {
- cv::Mat image_mat;
- cv::undistort(image_mat_distorted, image_mat, CameraIntrinsics(),
- CameraDistCoeffs());
+ cv::Mat image_mat = UndistortImage(image_mat_distorted, undistort_maps_);
BlobDetector::BlobResult blob_result;
BlobDetector::ExtractBlobs(image_mat, &blob_result);