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,
    }};

CameraCalibration camera_6 = {
    {
        -1.17595 / 180.0 * M_PI, 346.997, 0.987547 / 180.0 * M_PI,
    },
    {
        {{4.88124 * kInchesToMeters, 2.15528 * kInchesToMeters,
          33.1686 * kInchesToMeters}},
        -12.0018 / 180.0 * M_PI,
    },
    {
        6,
        {{12.5 * kInchesToMeters, 0.0}},
        {{1 * kInchesToMeters, 0.0}},
        11,
        "data/cam6_0/debug_viewer_jpeg_",
        75,
    }};

CameraCalibration camera_10 = {
    {
        -0.165199 / 180.0 * M_PI, 340.666, 0.596842 / 180.0 * M_PI,
    },
    {
        {{-5.23103 * kInchesToMeters, 2.96098 * kInchesToMeters,
          33.2867 * kInchesToMeters}},
        182.121 / 180.0 * M_PI,
    },
    {
        10,
        {{-12.5 * kInchesToMeters, 0.0}},
        {{-1 * kInchesToMeters, 0.0}},
        11,
        "data/cam10_0/debug_viewer_jpeg_",
        75,
    }};

CameraCalibration camera_16 = {
    {
        -1.30906 / 180.0 * M_PI, 347.372, 2.18486 / 180.0 * M_PI,
    },
    {
        {{4.98126 * kInchesToMeters, 1.96988 * kInchesToMeters,
          33.4276 * kInchesToMeters}},
        -12.2377 / 180.0 * M_PI,
    },
    {
        16,
        {{12.5 * kInchesToMeters, 0.5 * kInchesToMeters}},
        {{1 * kInchesToMeters, 0.0}},
        16,
        "cam16/debug_viewer_jpeg_",
        55,
    }};

CameraCalibration camera_19 = {
    {
        -0.341036 / 180.0 * M_PI, 324.626, 1.2545 / 180.0 * M_PI,
    },
    {
        {{-6.93309 * kInchesToMeters, 2.64735 * kInchesToMeters,
          32.8758 * kInchesToMeters}},
        -177.419 / 180.0 * M_PI,
    },
    {
        19,
        {{12.5 * kInchesToMeters, 0.5 * kInchesToMeters}},
        {{1 * kInchesToMeters, 0.0}},
        16,
        "cam19/debug_viewer_jpeg_",
        68,
    }};

const CameraCalibration *GetCamera(int camera_id) {
  switch (camera_id) {
    case 4:
      return &camera_4;
    case 5:
      return &camera_5;
    case 6:
      return &camera_6;
    case 10:
      return &camera_10;
    case 16:
      return &camera_16;
    case 19:
      return &camera_19;
    default:
      return nullptr;
  }
}

}  // namespace vision
}  // namespace y2019