Running global_calibration updates constants.cc.
Change-Id: I1663987d6906f7899a90a95d694bd1db825afeef
diff --git a/y2019/vision/constants.h b/y2019/vision/constants.h
index cbad8bf..b33b045 100644
--- a/y2019/vision/constants.h
+++ b/y2019/vision/constants.h
@@ -10,6 +10,7 @@
// Position of the idealized camera in 3d space.
struct CameraGeometry {
+ static constexpr size_t kNumParams = 4;
// In Meters from floor under imu center.
std::array<double, 3> location{{0, 0, 0}};
double heading = 0.0;
@@ -28,6 +29,8 @@
out.heading = data[3];
return out;
}
+
+ void dump(std::basic_ostream<char> &o) const;
};
struct IntrinsicParams {
@@ -50,6 +53,7 @@
out.barrel_mount = data[2];
return out;
}
+ void dump(std::basic_ostream<char> &o) const;
};
// Metadata about the calibration results (Should be good enough to reproduce).
@@ -62,6 +66,9 @@
// This will multiply tape_measure_direction and thus has no units.
double beginning_tape_measure_reading;
const char *filename_prefix;
+ int num_images;
+
+ void dump(std::basic_ostream<char> &o) const;
};
struct CameraCalibration {
@@ -72,6 +79,8 @@
const CameraCalibration *GetCamera(int camera_id);
+void DumpCameraConstants(int camera_id, const CameraCalibration &value);
+
} // namespace vision
} // namespace y2019