commit 09fb125c71ed65262ab142f49a860f27eaec4325
author milind-u <milind.upadhyay@gmail.com> Sat Jan 28 19:21:41 2023 -0800
committer milind-u <milind.upadhyay@gmail.com> Sun Jan 29 14:03:17 2023 -0800
tree 905fd4386ba71260e21850d9d3487e0ee93958bf
parent 60706abf801a72379e3c7b0a8db699f08f1ccb08

Use aprilrobotics for target mapping

And delete april detection from charuco lib.

Signed-off-by: Yash Chainani <yashchainani28@gmail.com>
Change-Id: I98e6b84d99b23683f0c77c959b8bcc9af9ebc5d4

y2022/vision/calibrate_extrinsics.cc

diff --git a/y2022/vision/calibrate_extrinsics.cc b/y2022/vision/calibrate_extrinsics.cc
index 05d3481..b5005fe 100644
--- a/y2022/vision/calibrate_extrinsics.cc
+++ b/y2022/vision/calibrate_extrinsics.cc
@@ -19,7 +19,7 @@
 DEFINE_bool(plot, false, "Whether to plot the resulting data.");
 DEFINE_bool(turret, true, "If true, the camera is on the turret");
 DEFINE_string(target_type, "charuco",
-              "Type of target: april_tag|aruco|charuco|charuco_diamond");
+              "Type of target: aruco|charuco|charuco_diamond");
 DEFINE_string(image_channel, "/camera", "Channel to listen for images on");
 
 namespace frc971 {
@@ -68,9 +68,7 @@
         factory.MakeEventLoop("calibration", pi_node);
 
     TargetType target_type = TargetType::kCharuco;
-    if (FLAGS_target_type == "april_tag") {
-      target_type = TargetType::kAprilTag;
-    } else if (FLAGS_target_type == "aruco") {
+    if (FLAGS_target_type == "aruco") {
       target_type = TargetType::kAruco;
     } else if (FLAGS_target_type == "charuco") {
       target_type = TargetType::kCharuco;
@@ -78,7 +76,7 @@
       target_type = TargetType::kCharucoDiamond;
     } else {
       LOG(FATAL) << "Unknown target type: " << FLAGS_target_type
-                 << ", expected: april_tag|aruco|charuco|charuco_diamond";
+                 << ", expected: aruco|charuco|charuco_diamond";
     }
 
     // Now, hook Calibration up to everything.