Add camera calibration to target estimate
Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: Ica30bd4c98f4d10c0bf1dc9e1f4cebea3ae2225c
diff --git a/y2022/vision/camera_reader.cc b/y2022/vision/camera_reader.cc
index abce18c..b8e666e 100644
--- a/y2022/vision/camera_reader.cc
+++ b/y2022/vision/camera_reader.cc
@@ -105,11 +105,15 @@
blob_result_offset = blob_result_builder.Finish();
}
+ const auto camera_calibration_offset =
+ aos::RecursiveCopyFlatBuffer(camera_calibration_, builder.fbb());
+
auto target_estimate_builder = builder.MakeBuilder<TargetEstimate>();
TargetEstimator::EstimateTargetLocation(
blob_result.centroid, CameraIntrinsics(), CameraExtrinsics(),
&target_estimate_builder);
target_estimate_builder.add_blob_result(blob_result_offset);
+ target_estimate_builder.add_camera_calibration(camera_calibration_offset);
builder.CheckOk(builder.Send(target_estimate_builder.Finish()));
}