commit 007e2eab75a3e5f4e388d6128bda9d5f52d48cc5
author Jim Ostrowski <yimmy13@gmail.com> Sun Jan 30 13:13:26 2022 -0800
committer Jim Ostrowski <yimmy13@gmail.com> Fri Feb 04 22:28:29 2022 -0800
tree 329ad9a3d26bfa53ed280edf6913e84ca8a19f3c
parent 344528c65374c35ca09d8507393902b61fe09d7b

Stripping out SIFT model and just create calibration data header

Storing this in y2022 for now, though eventually it might make sense
to move to frc971.  But, I think camera_reader will stay here

Change-Id: Iac4d5f3364b0f3f63c298d3902ac66fd50053b55
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>

y2022/vision/camera_reader.h

diff --git a/y2022/vision/camera_reader.h b/y2022/vision/camera_reader.h
index 78abaa5..2a5c729 100644
--- a/y2022/vision/camera_reader.h
+++ b/y2022/vision/camera_reader.h
@@ -13,9 +13,8 @@
 #include "aos/network/team_number.h"
 #include "frc971/vision/v4l2_reader.h"
 #include "frc971/vision/vision_generated.h"
-#include "y2020/vision/sift/sift_generated.h"
-#include "y2020/vision/sift/sift_training_generated.h"
-#include "y2020/vision/tools/python_code/sift_training_data.h"
+#include "y2022/vision/calibration_data.h"
+#include "y2022/vision/calibration_generated.h"
 #include "y2022/vision/target_estimate_generated.h"
 
 namespace y2022 {
@@ -28,9 +27,10 @@
 class CameraReader {
  public:
   CameraReader(aos::ShmEventLoop *event_loop,
-               const sift::TrainingData *training_data, V4L2Reader *reader)
+               const calibration::CalibrationData *calibration_data,
+               V4L2Reader *reader)
       : event_loop_(event_loop),
-        training_data_(training_data),
+        calibration_data_(calibration_data),
         camera_calibration_(FindCameraCalibration()),
         reader_(reader),
         image_sender_(event_loop->MakeSender<CameraImage>("/camera")),
@@ -42,7 +42,7 @@
   }
 
  private:
-  const sift::CameraCalibration *FindCameraCalibration() const;
+  const calibration::CameraCalibration *FindCameraCalibration() const;
 
   // Processes an image (including sending the results).
   void ProcessImage(const cv::Mat &image);
@@ -77,8 +77,8 @@
   }
 
   aos::ShmEventLoop *const event_loop_;
-  const sift::TrainingData *const training_data_;
-  const sift::CameraCalibration *const camera_calibration_;
+  const calibration::CalibrationData *const calibration_data_;
+  const calibration::CameraCalibration *const camera_calibration_;
   V4L2Reader *const reader_;
   aos::Sender<CameraImage> image_sender_;
   aos::Sender<TargetEstimate> target_estimate_sender_;