y2024_bot3/vision/vision_util.h

#ifndef Y2024_BOT3_VISION_VISION_UTIL_H_
#define Y2024_BOT3_VISION_VISION_UTIL_H_
#include <map>
#include <string_view>

#include "opencv2/imgproc.hpp"

#include "y2024_bot3/constants/constants_generated.h"

namespace y2024_bot3::vision {

// Generate unique colors for each camera
const auto kOrinColors = std::map<std::string, cv::Scalar>{
    {"/orin1/camera0", cv::Scalar(255, 0, 255)},
    {"/orin1/camera1", cv::Scalar(255, 255, 0)},
    {"/imu/camera0", cv::Scalar(0, 255, 255)},
    {"/imu/camera1", cv::Scalar(255, 165, 0)},
};

// Structure to store node name (e.g., orin1, imu), number, and a usable string
struct CameraNode {
  std::string node_name;
  int camera_number;

  inline const std::string camera_name() const {
    return "/" + node_name + "/camera" + std::to_string(camera_number);
  }
};

std::vector<CameraNode> CreateNodeList();

std::map<std::string, int> CreateOrderingMap(
    std::vector<CameraNode> &node_list);

const frc971::vision::calibration::CameraCalibration *FindCameraCalibration(
    const y2024_bot3::Constants &calibration_data, std::string_view node_name,
    int camera_number);

}  // namespace y2024_bot3::vision

#endif  // Y2024_BOT3_VISION_VISION_UTIL_H_