Produce flatbuffers results from extrinsics cal
This makes it so that the extrinsics calibration process can, if it
wants, write out the resulting flatbuffer to a file or stdout or the
such.
Change-Id: Ib899d5ad910ecbdeada85f70a154d2542c9d28d7
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/vision/extrinsics_calibration.h b/frc971/vision/extrinsics_calibration.h
index eb35482..fb52ed9 100644
--- a/frc971/vision/extrinsics_calibration.h
+++ b/frc971/vision/extrinsics_calibration.h
@@ -33,10 +33,17 @@
bool has_pivot = false;
};
+// Copies an Eigen matrix into a row-major vector of the data. Used for
+// converting into the flatbuffer TransformationMatrix type.
+std::vector<float> MatrixToVector(const Eigen::Matrix<double, 4, 4> &H);
+
// Solves the mounting problem given the calibration data and parameters. The
// parameters are used as the seed to the solver.
-void Solve(const CalibrationData &data,
- CalibrationParameters *calibration_parameters);
+// Produces a CameraCalibration flatbuffer which will have the relevant
+// extrinsics fields populated, so that it can subsequently be merged with the
+// intrinsics portion of the calibration.
+aos::FlatbufferDetachedBuffer<calibration::CameraCalibration> Solve(
+ const CalibrationData &data, CalibrationParameters *calibration_parameters);
// Plots the calibrated results to help visualize the fit.
void Plot(const CalibrationData &data,