Fix frozen_map usage

huskyroboticsteam · Nov 5, 2024 · a8fe4f5 · a8fe4f5
1 parent 3fde550
commit a8fe4f5
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/src/Constants.cpp b/src/Constants.cpp
@@ -51,12 +51,12 @@ const robot::types::CameraID MAST_CAMERA_ID = 40;
 const robot::types::CameraID WRIST_CAMERA_ID = 30;
 const robot::types::CameraID HAND_CAMERA_ID = 20;
 
-constexpr frozen::unordered_map<robot::types::CameraID, std::string> CAMERA_CONFIG_PATHS = {
+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"}};
 
-constexpr frozen::unordered_map<std::string, robot::types::CameraID> CAMERA_NAME_TO_ID = {
+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}};
 
 /**

diff --git a/src/Constants.h b/src/Constants.h
@@ -57,9 +57,9 @@ extern const robot::types::CameraID MAST_CAMERA_ID;
 extern const robot::types::CameraID WRIST_CAMERA_ID;
 extern const robot::types::CameraID HAND_CAMERA_ID;
 
-extern constexpr frozen::unordered_map<robot::types::CameraID, std::string>
+extern const frozen::unordered_map<robot::types::CameraID, frozen::string, 3>
 	CAMERA_CONFIG_PATHS;
-extern constexpr frozen::unordered_map<std::string, robot::types::CameraID> CAMERA_NAME_TO_ID;
+extern const frozen::unordered_map<frozen::string, robot::types::CameraID, 3> CAMERA_NAME_TO_ID;
 
 extern const uint16_t WS_SERVER_PORT;
 

diff --git a/src/camera/Camera.cpp b/src/camera/Camera.cpp
@@ -62,7 +62,7 @@ void Camera::init() {
 }
 
 std::stringstream Camera::GStreamerFromFile(robot::types::CameraID camera_id) {
-	cv::FileStorage fs(Constants::CAMERA_CONFIG_PATHS.at(camera_id), cv::FileStorage::READ);
+	cv::FileStorage fs(Constants::CAMERA_CONFIG_PATHS.at(camera_id).data(), cv::FileStorage::READ);
 	if (!fs.isOpened()) {
 		throw std::invalid_argument("Configuration file of camera ID" +
 									std::to_string(camera_id) + " does not exist");