commit d67f6d2a712a55863bdb1664bbe9ddcecb926cbd
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Feb 05 17:37:25 2023 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Fri Feb 10 20:24:19 2023 -0800
tree a4f100fffe7e50e40a9103faa0205c26cbb3b416
parent f54fbde25ed68eae4487472e35da3bae018f94b5

Move y2023 vision code over to using constants sender

This removes the need for the generated calibration_data.h

Not tested on a pi yet, so I may've messed something up with the
deployment.

Change-Id: Ic46ba861db25033ac21f33f4898cf52afe02f1ab
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2023/vision/aprilrobotics.h

diff --git a/y2023/vision/aprilrobotics.h b/y2023/vision/aprilrobotics.h
index d5172c7..8c2c0ad 100644
--- a/y2023/vision/aprilrobotics.h
+++ b/y2023/vision/aprilrobotics.h
@@ -16,7 +16,8 @@
 #include "third_party/apriltag/apriltag_pose.h"
 #include "third_party/apriltag/tag16h5.h"
 #include "y2023/vision/april_debug_generated.h"
-#include "y2023/vision/calibration_data.h"
+#include "y2023/constants/constants_generated.h"
+#include "frc971/constants/constants_sender_lib.h"
 
 DECLARE_int32(team_number);
 
@@ -43,23 +44,6 @@
       frc971::vision::TargetMapper::TargetId target_id,
       flatbuffers::FlatBufferBuilder *fbb);
 
-  static const frc971::vision::calibration::CameraCalibration *
-  FindCameraCalibration(
-      const frc971::vision::calibration::CalibrationData *calibration_data,
-      std::string_view node_name) {
-    for (const frc971::vision::calibration::CameraCalibration *candidate :
-         *calibration_data->camera_calibrations()) {
-      if (candidate->node_name()->string_view() != node_name) {
-        continue;
-      }
-      if (candidate->team_number() != FLAGS_team_number) {
-        continue;
-      }
-      return candidate;
-    }
-    LOG(FATAL) << ": Failed to find camera calibration for " << node_name
-               << " on " << FLAGS_team_number;
-  }
 
   static cv::Mat CameraIntrinsics(
       const frc971::vision::calibration::CameraCalibration
@@ -86,8 +70,7 @@
   apriltag_family_t *tag_family_;
   apriltag_detector_t *tag_detector_;
 
-  const aos::FlatbufferSpan<frc971::vision::calibration::CalibrationData>
-      calibration_data_;
+  const frc971::constants::ConstantsFetcher<Constants> calibration_data_;
   const frc971::vision::calibration::CameraCalibration *calibration_;
   cv::Mat intrinsics_;
   cv::Mat camera_distortion_coeffs_;