Moving camera calib files to use camera#
Modifying intrinsics_calibration to handle and use this new format
Changing numbering to match /dev/video#, so that camera on /dev/video0
is publishing on /camera0 for example
Added a utility function to get camera number from channel, and a test to
go with it
Cleaned up some of the logging to use percentages instead of fractions /
decimals
Change-Id: I764d59ca7d9089a37d010272879ce55aae5dbd95
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/frc971/vision/vision_util_lib.cc b/frc971/vision/vision_util_lib.cc
index b65e883..bfd6209 100644
--- a/frc971/vision/vision_util_lib.cc
+++ b/frc971/vision/vision_util_lib.cc
@@ -43,4 +43,19 @@
return result;
}
+std::optional<uint16_t> CameraNumberFromChannel(std::string camera_channel) {
+ if (camera_channel.find("/camera") == std::string::npos) {
+ return std::nullopt;
+ }
+ // If the string doesn't end in /camera#, return nullopt
+ uint16_t cam_len = std::string("/camera").length();
+ if (camera_channel.length() != camera_channel.find("/camera") + cam_len + 1) {
+ return std::nullopt;
+ }
+
+ uint16_t camera_number = std::stoi(
+ camera_channel.substr(camera_channel.find("/camera") + cam_len, 1));
+ return camera_number;
+}
+
} // namespace frc971::vision