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Update C++ Simulation to match Java (#1026)

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Drew Williams
2023-12-16 13:41:27 -05:00
committed by GitHub
parent 47aea29b6b
commit cba4db0bce
42 changed files with 5123 additions and 15 deletions
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17
photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
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@@ -26,6 +26,7 @@
#include <frc/Errors.h>
#include <frc/Timer.h>
#include <opencv2/core.hpp>
#include <opencv2/core/mat.hpp>
#include "PhotonVersion.h"
@@ -128,8 +129,13 @@ LEDMode PhotonCamera::GetLEDMode() const {
std::optional<cv::Mat> PhotonCamera::GetCameraMatrix() {
auto camCoeffs = cameraIntrinsicsSubscriber.Get();
if (camCoeffs.size() == 9) {
// clone should deal with ownership concerns? not sure
return cv::Mat(3, 3, CV_64FC1, camCoeffs.data()).clone();
cv::Mat retVal(3, 3, CV_64FC1);
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
retVal.at<double>(i, j) = camCoeffs[(j * 3) + i];
}
}
return retVal;
}
return std::nullopt;
}
@@ -145,8 +151,11 @@ const std::string_view PhotonCamera::GetCameraName() const {
std::optional<cv::Mat> PhotonCamera::GetDistCoeffs() {
auto distCoeffs = cameraDistortionSubscriber.Get();
if (distCoeffs.size() == 5) {
// clone should deal with ownership concerns? not sure
return cv::Mat(5, 1, CV_64FC1, distCoeffs.data()).clone();
cv::Mat retVal(5, 1, CV_64FC1);
for (int i = 0; i < 5; i++) {
retVal.at<double>(i, 0) = distCoeffs[i];
}
return retVal;
}
return std::nullopt;
}