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.h b/frc971/vision/vision_util_lib.h
index 6fb32eb..8ce651c 100644
--- a/frc971/vision/vision_util_lib.h
+++ b/frc971/vision/vision_util_lib.h
@@ -7,16 +7,24 @@
#include "frc971/vision/calibration_generated.h"
+// Extract the CameraExtrinsics from a CameraCalibration struct
namespace frc971::vision {
std::optional<cv::Mat> CameraExtrinsics(
const frc971::vision::calibration::CameraCalibration *camera_calibration);
+// Extract the CameraIntrinsics from a CameraCalibration struct
cv::Mat CameraIntrinsics(
const frc971::vision::calibration::CameraCalibration *camera_calibration);
+// Extract the CameraDistCoeffs from a CameraCalibration struct
cv::Mat CameraDistCoeffs(
const frc971::vision::calibration::CameraCalibration *camera_calibration);
+// Get the camera number from a camera channel name, e.g., return 2 from
+// "/camera2". Returns nullopt if string doesn't start with "/camera" or does
+// not have a number
+std::optional<uint16_t> CameraNumberFromChannel(std::string camera_channel);
+
} // namespace frc971::vision
#endif // FRC971_VISION_VISION_UTIL_LIB_H_