commit ddebdcb25763bc583b90be88d6a54e577f543afb
author Jim Ostrowski <yimmy13@gmail.com> Thu Feb 29 22:25:36 2024 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Fri Mar 01 15:53:49 2024 -0800
tree 25d492383e33654ecb9a98549d11a0af670cd6db
parent 3279bc5de4f351ee480af7f699544831d22a1270

partially convert calibrate_multi_cameras for multiple cameras per orin

Change-Id: Iee570a4ce902c1bcd5a3f20f0117f5ec573fc31a
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>

y2024/vision/viewer.cc

diff --git a/y2024/vision/viewer.cc b/y2024/vision/viewer.cc
index 6f83ec2..d5ada14 100644
--- a/y2024/vision/viewer.cc
+++ b/y2024/vision/viewer.cc
@@ -85,8 +85,11 @@
 
   frc971::constants::ConstantsFetcher<y2024::Constants> constants_fetcher(
       &event_loop);
+  CHECK(FLAGS_channel.length() == 8);
+  int camera_id = std::stoi(FLAGS_channel.substr(7, 1));
   const auto *calibration_data = FindCameraCalibration(
-      constants_fetcher.constants(), event_loop.node()->name()->string_view());
+      constants_fetcher.constants(), event_loop.node()->name()->string_view(),
+      camera_id);
   const cv::Mat intrinsics = frc971::vision::CameraIntrinsics(calibration_data);
   const cv::Mat dist_coeffs =
       frc971::vision::CameraDistCoeffs(calibration_data);