Adding a camera_id to our intrinsic calibration file
We'll need to manually label and track these, since the pi cameras
don't have an internal serial number (as best I can tell).
I think this is important, since we can swap cameras between pi's
and it's hard to be sure we've got the right calibration based on
pi hostame.
Including calibration files for cameras 22-01 to 22-07
Added a little detail to the CHECK, since it wasn't very clear
Change-Id: I6dd6f8e19355bb0fefce2fcb7fd79ba5c95fb374
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/y2022/vision/camera_reader_main.cc b/y2022/vision/camera_reader_main.cc
index f1c5fdf..52ee51a 100644
--- a/y2022/vision/camera_reader_main.cc
+++ b/y2022/vision/camera_reader_main.cc
@@ -6,7 +6,8 @@
// bazel run //y2022/vision:camera_reader -- --config y2022/config.json
// --override_hostname pi-7971-1 --ignore_timestamps true
DEFINE_string(config, "config.json", "Path to the config file to use.");
-DEFINE_uint32(exposure, 5, "Exposure time, in 100us increments");
+DEFINE_uint32(exposure, 5,
+ "Exposure time, in 100us increments; 0 implies auto exposure");
namespace y2022 {
namespace vision {
@@ -33,7 +34,9 @@
}
V4L2Reader v4l2_reader(&event_loop, "/dev/video0");
- v4l2_reader.SetExposure(FLAGS_exposure);
+ if (FLAGS_exposure > 0) {
+ v4l2_reader.SetExposure(FLAGS_exposure);
+ }
CameraReader camera_reader(&event_loop, &calibration_data.message(),
&v4l2_reader);