commit 144ab399b3f1d1b39bbcd6495c3478cb5bcdb4a2
author Jim Ostrowski <yimmy13@gmail.com> Sun Mar 17 18:41:49 2024 -0700
committer Jim Ostrowski <yimmy13@gmail.com> Sun Mar 17 21:45:18 2024 -0700
tree a2d7211ed8cd2ed06376027f9561fa838eff44e3
parent 6153b39adb8b84df7967c9d4ce239c881c418c1c

Handling naming of IMU Orin and exiting data collection

Orin2 changed to imu, so need to find way to handle it.  This won't
work for other years that have 2 cpus named orin, but will for 2024

Also, when trying to quit, we need to shut down processing to give
the event loop time to exit.

Change-Id: Icc9599456ce82f4b6d1a16f3046d762f26d17f58
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>

frc971/vision/intrinsics_calibration_lib.cc

diff --git a/frc971/vision/intrinsics_calibration_lib.cc b/frc971/vision/intrinsics_calibration_lib.cc
index 59a45ac..5584ed7 100644
--- a/frc971/vision/intrinsics_calibration_lib.cc
+++ b/frc971/vision/intrinsics_calibration_lib.cc
@@ -36,17 +36,27 @@
                           rvecs_eigen, tvecs_eigen);
           }),
       image_callback_(
-          event_loop,
-          absl::StrCat("/", aos::network::ParsePiOrOrin(hostname_).value(),
-                       std::to_string(cpu_number_.value()), camera_channel_),
+          event_loop, camera_channel_,
           [this](cv::Mat rgb_image,
                  const aos::monotonic_clock::time_point eof) {
+            if (exit_collection_) {
+              return;
+            }
             charuco_extractor_.HandleImage(rgb_image, eof);
           },
           kMaxImageAge),
       display_undistorted_(display_undistorted),
       calibration_folder_(calibration_folder),
-      exit_handle_(exit_handle) {
+      exit_handle_(exit_handle),
+      exit_collection_(false) {
+  if (!FLAGS_visualize) {
+    // The only way to exit into the calibration routines is by hitting "q"
+    // while visualization is running.  The event_loop doesn't pause enough
+    // to handle ctrl-c exit requests
+    LOG(INFO) << "Setting visualize to true, since currently the intrinsics "
+                 "only works this way";
+    FLAGS_visualize = true;
+  }
   LOG(INFO) << "Hostname is: " << hostname_ << " and camera channel is "
             << camera_channel_;
 
@@ -81,7 +91,11 @@
   }
 
   int keystroke = cv::waitKey(1);
-
+  if ((keystroke & 0xFF) == static_cast<int>('q')) {
+    LOG(INFO) << "Going to exit";
+    exit_collection_ = true;
+    exit_handle_->Exit();
+  }
   // If we haven't got a valid pose estimate, don't use these points
   if (!valid) {
     LOG(INFO) << "Skipping because pose is not valid";
@@ -161,9 +175,6 @@
                   << kDeltaTThreshold;
       }
     }
-
-  } else if ((keystroke & 0xFF) == static_cast<int>('q')) {
-    exit_handle_->Exit();
   }
 }
 
@@ -175,8 +186,14 @@
     std::string_view camera_id, uint16_t team_number,
     double reprojection_error) {
   flatbuffers::FlatBufferBuilder fbb;
+  // THIS IS A HACK FOR 2024, since we call Orin2 "Imu"
+  std::string cpu_name = absl::StrFormat("%s%d", cpu_type, cpu_number);
+  if (cpu_type == "orin" && cpu_number == 2) {
+    LOG(INFO) << "Renaming orin2 to imu";
+    cpu_name = "imu";
+  }
   flatbuffers::Offset<flatbuffers::String> name_offset =
-      fbb.CreateString(absl::StrFormat("%s%d", cpu_type, cpu_number));
+      fbb.CreateString(cpu_name.c_str());
   flatbuffers::Offset<flatbuffers::String> camera_id_offset =
       fbb.CreateString(camera_id);
   flatbuffers::Offset<flatbuffers::Vector<float>> intrinsics_offset =