commit cb8b408c792b619a4edce5940906f8dad9a9966f
author Jim Ostrowski <yimmy13@gmail.com> Sun Jan 21 02:23:46 2024 -0800
committer Jim Ostrowski <yimmy13@gmail.com> Sat Feb 03 18:14:10 2024 -0800
tree b24dab036328b1cf011fd91803d7de2d0fe2939c
parent 1259b2a8923b8ad5040cac90282a68a605eabb6f

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>

frc971/vision/intrinsics_calibration_lib.cc

diff --git a/frc971/vision/intrinsics_calibration_lib.cc b/frc971/vision/intrinsics_calibration_lib.cc
index ab03e01..49224f0 100644
--- a/frc971/vision/intrinsics_calibration_lib.cc
+++ b/frc971/vision/intrinsics_calibration_lib.cc
@@ -7,7 +7,7 @@
     std::string_view base_intrinsics_file, bool display_undistorted,
     std::string_view calibration_folder, aos::ExitHandle *exit_handle)
     : pi_(pi),
-      pi_number_(aos::network::ParsePiNumber(pi)),
+      pi_number_(aos::network::ParsePiOrOrinNumber(pi)),
       camera_id_(camera_id),
       prev_H_camera_board_(Eigen::Affine3d()),
       prev_image_H_camera_board_(Eigen::Affine3d()),
@@ -25,11 +25,13 @@
             HandleCharuco(rgb_image, eof, charuco_ids, charuco_corners, valid,
                           rvecs_eigen, tvecs_eigen);
           }),
+      // TODO: Need to make this work with /pi or /orin
       image_callback_(
           event_loop,
-          absl::StrCat("/pi",
-                       std::to_string(aos::network::ParsePiNumber(pi).value()),
-                       "/camera"),
+          absl::StrCat(
+              "/pi",
+              std::to_string(aos::network::ParsePiOrOrinNumber(pi).value()),
+              "/camera"),
           [this](cv::Mat rgb_image,
                  const aos::monotonic_clock::time_point eof) {
             charuco_extractor_.HandleImage(rgb_image, eof);
@@ -213,7 +215,7 @@
     const aos::realtime_clock::time_point realtime_now =
         aos::realtime_clock::now();
     std::optional<uint16_t> team_number =
-        aos::network::team_number_internal::ParsePiTeamNumber(pi_);
+        aos::network::team_number_internal::ParsePiOrOrinTeamNumber(pi_);
     CHECK(team_number) << ": Invalid pi hostname " << pi_
                        << ", failed to parse team number";
     aos::FlatbufferDetachedBuffer<calibration::CameraCalibration>