Refactor of apriltag detector to send out tags
Split into app in y2024, and libs in frc971
Added in calibration constants to y2024, including single basic camera
Modified team number parsing to work with orins
Pulled out year-by-year calibration call to a single FindCameraCalibration
call, and rest (extrinsics, intrinsics) are year-agnostic
Moving camera calibration files into constants/calib_files directory, instead
of vision/calib_files
Change-Id: Ic485086aad9665d2b571551a5afb337c9254d690
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/frc971/vision/calibration_accumulator.cc b/frc971/vision/calibration_accumulator.cc
index d8abd33..2c0e603 100644
--- a/frc971/vision/calibration_accumulator.cc
+++ b/frc971/vision/calibration_accumulator.cc
@@ -163,11 +163,13 @@
HandleCharuco(rgb_image, eof, charuco_ids, charuco_corners, valid,
rvecs_eigen, tvecs_eigen);
}),
+ // TODO: Need to make this work for pi or orin
image_callback_(
image_event_loop_,
- absl::StrCat("/pi",
- std::to_string(aos::network::ParsePiNumber(pi).value()),
- image_channel),
+ absl::StrCat(
+ "/pi",
+ std::to_string(aos::network::ParsePiOrOrinNumber(pi).value()),
+ image_channel),
[this](cv::Mat rgb_image, const monotonic_clock::time_point eof) {
charuco_extractor_.HandleImage(rgb_image, eof);
}),