Camera rework

camera-config/HandCameraConfig.yml

@@ -0,0 +1,11 @@
+%YAML:1.0
+---
+name: "hand"
+description: "Camera located on the hand of the rover."
+# Make sure that this camera_id matches the one defined in the udev rules.
+camera_id: 20
+
+format: "jpeg"
+width: 640
+height: 480
+framerate: 30

src/CMakeLists.txt

@@ -67,6 +67,7 @@ message("========================================")
 # here to avoid the compiler spamming warnings at us for stuff in the Eigen headers.
 find_package(Eigen3 REQUIRED NO_MODULE)
 include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR})
+include_directories("/usr/local/include")
 
 # Find the WebSocket++ library and Boost (provides the ASIO backend for Websocket++ and also
 # provides the program_options argument parser). Only the `system` component of Boost is
@@ -132,8 +133,6 @@ endif()
 
 add_library(camera SHARED
   camera/Camera.cpp
-  camera/CameraParams.cpp
-  camera/CameraConfig.cpp
 )
 target_link_libraries(camera PUBLIC ${OpenCV_LIBS})
 
@@ -199,11 +198,11 @@ endif()
 # hardware-agnostic utilities and common code for world interface
 add_library(world_interface_core STATIC
   world_interface/gps_common_interface.cpp
-  ar/Detector.cpp
-  ar/MarkerSet.cpp
-  ar/MarkerPattern.cpp
-  ar/Tag.cpp
-  ar/read_landmarks.cpp
+  #ar/Detector.cpp
+  #ar/MarkerSet.cpp
+  #ar/MarkerPattern.cpp
+  #ar/Tag.cpp
+  #ar/read_landmarks.cpp
   world_interface/motor/base_motor.cpp
   )
 target_include_directories(world_interface_core SYSTEM PUBLIC ${OpenCV_INCLUDE_DIRS})
@@ -309,10 +308,10 @@ if(WITH_TESTS)
   add_executable(tests
     Tests.cpp
     # AR Detection tests
-    ar/DetectorTests.cpp
-    ar/MarkerSetTests.cpp
+    # ar/DetectorTests.cpp
+    # ar/MarkerSetTests.cpp
     # Camera tests
-    ../tests/camera/CameraParamsTests.cpp
+    # ../tests/camera/CameraParamsTests.cpp
     # GPS tests
     ../tests/gps/GPSDatumTest.cpp
     ../tests/gps/GPSConverterTest.cpp
@@ -368,7 +367,6 @@ add_compile_options(
   -Werror
 )
 
-add_subdirectory(ar)
 add_subdirectory(camera)
 add_subdirectory(CAN)
 add_subdirectory(network)

src/Constants.cpp

@@ -47,15 +47,17 @@ const double MAX_WHEEL_VEL = WHEEL_RADIUS * MAX_DRIVE_PWM / PWM_PER_RAD_PER_SEC;
 const double MAX_DTHETA = kinematics::DiffDriveKinematics(EFF_WHEEL_BASE)
 							  .wheelVelToRobotVel(-MAX_WHEEL_VEL, MAX_WHEEL_VEL)(2);
 
-// TODO: We need to recalibrate the camera, since we replaced it with a different one.
-const char* MAST_CAMERA_CONFIG_PATH = "../camera-config/MastCameraCalibration.yml";
-const robot::types::CameraID MAST_CAMERA_ID = "mast";
+const robot::types::CameraID MAST_CAMERA_ID = 40;
+const robot::types::CameraID WRIST_CAMERA_ID = 30;
+const robot::types::CameraID HAND_CAMERA_ID = 20;
 
-const char* FOREARM_CAMERA_CONFIG_PATH = "../camera-config/WristCameraCalibration.yml";
-const robot::types::CameraID FOREARM_CAMERA_ID = "wrist";
+constexpr frozen::unordered_map<robot::types::CameraID, frozen::string, 3>
+	CAMERA_CONFIG_PATHS = {{MAST_CAMERA_ID, "../camera-config/MastCameraCalibration.yml"},
+						   {WRIST_CAMERA_ID, "../camera-config/WristCameraCalibration.yml"},
+						   {HAND_CAMERA_ID, "../camera-config/HandCameraCalibration.yml"}};
 
-const char* HAND_CAMERA_CONFIG_PATH = "../camera-config/HandCameraCalibration.yml";
-const robot::types::CameraID HAND_CAMERA_ID = "hand";
+constexpr frozen::unordered_map<frozen::string, robot::types::CameraID, 3> CAMERA_NAME_TO_ID =
+	{{"mast", MAST_CAMERA_ID}, {"wrist", WRIST_CAMERA_ID}, {"hand", HAND_CAMERA_ID}};
 
 /**
    @deprecated No need for this constant once we fully switch over the Mission Control PlanViz

src/Constants.h

@@ -53,15 +53,15 @@ extern const double MAX_DTHETA;
 
 // TODO: We need to recalibrate the camera, since we replaced it with a different one.
 // TODO: rename cameras (in MC as well) as appropriate
-extern const char* MAST_CAMERA_CONFIG_PATH;
 extern const robot::types::CameraID MAST_CAMERA_ID;
-
-extern const char* FOREARM_CAMERA_CONFIG_PATH;
-extern const robot::types::CameraID FOREARM_CAMERA_ID;
-
-extern const char* HAND_CAMERA_CONFIG_PATH;
+extern const robot::types::CameraID WRIST_CAMERA_ID;
 extern const robot::types::CameraID HAND_CAMERA_ID;
 
+extern const frozen::unordered_map<robot::types::CameraID, frozen::string, 3>
+	CAMERA_CONFIG_PATHS;
+extern const frozen::unordered_map<frozen::string, robot::types::CameraID, 3>
+	CAMERA_NAME_TO_ID;
+
 extern const uint16_t WS_SERVER_PORT;
 
 /**