y2019/vision/constants.cc

#include "y2019/vision/constants.h"

namespace y2019 {
namespace vision {

static constexpr double kInchesToMeters = 0.0254;

CameraCalibration camera_4 = {
    {
        3.73623 / 180.0 * M_PI, 588.1, 0.269291 / 180.0 * M_PI,
    },
    {
        {{6.02674 * kInchesToMeters, 4.57805 * kInchesToMeters,
          33.3849 * kInchesToMeters}},
        22.4535 / 180.0 * M_PI,
    },
    {
        4,
        {{12.5 * kInchesToMeters, 12 * kInchesToMeters}},
        {{1 * kInchesToMeters, 0.0}},
        26,
        "cam4_0/debug_viewer_jpeg_",
        52,
    }};

CameraCalibration camera_5 = {
    {
        1.00774 / 180.0 * M_PI, 658.554, 2.43864 / 180.0 * M_PI,
    },
    {
        {{5.51248 * kInchesToMeters, 2.04087 * kInchesToMeters,
          33.2555 * kInchesToMeters}},
        -13.1396 / 180.0 * M_PI,
    },
    {
        5,
        {{12.5 * kInchesToMeters, 0.5 * kInchesToMeters}},
        {{1 * kInchesToMeters, 0.0}},
        26,
        "cam5_0/debug_viewer_jpeg_",
        59,
    }};

const CameraCalibration *GetCamera(int camera_id) {
  switch (camera_id) {
    case 4:
      return &camera_4;
    case 5:
      return &camera_5;
    default:
      return nullptr;
  }
}

}  // namespace vision
}  // namespace y2019