Finishing out write of camera_definition and target_definition to flatbuffer
Includes a lot more target_definition and ability to run commandline
Adds test of camera and target definition
Use deepcopy to make sure each calibration is independent of the other
Adding dependencies on python files
Changed argparser style of handling args
Change-Id: I132e1ffd0ef9de710ae03916de21442ed1cb2cc8
diff --git a/y2020/vision/camera_reader.cc b/y2020/vision/camera_reader.cc
index 06e4077..ca41905 100644
--- a/y2020/vision/camera_reader.cc
+++ b/y2020/vision/camera_reader.cc
@@ -128,7 +128,7 @@
void CameraReader::CopyTrainingFeatures() {
for (const sift::TrainingImage *training_image : *training_data_->images()) {
cv::Mat features(training_image->features()->size(), 128, CV_32F);
- for (size_t i = 0; i < training_image->features()->size(); ++i) {
+ for (size_t i = 0; i < training_image->features()->size(); ++i) {
const sift::Feature *feature_table = training_image->features()->Get(i);
// We don't need this information right now, but make sure it's here to
@@ -157,8 +157,7 @@
// fused into the beginning of the SIFT algorithm because the algorithm needs
// to look at the base image directly. It also only takes 2ms on our images.
// This is converting from YUYV to a grayscale image.
- cv::Mat image_mat(
- image.rows(), image.cols(), CV_8U);
+ cv::Mat image_mat(image.rows(), image.cols(), CV_8U);
CHECK(image_mat.isContinuous());
const int number_pixels = image.rows() * image.cols();
for (int i = 0; i < number_pixels; ++i) {
@@ -228,17 +227,17 @@
sift::CameraPose::Builder pose_builder(*builder.fbb());
{
- CHECK_EQ(cv::Size(3, 3), R_camera_target.size());
- CHECK_EQ(cv::Size(3, 1), T_camera_target.size());
- cv::Mat camera_target = cv::Mat::zeros(4, 4, CV_32F);
- R_camera_target.copyTo(camera_target(cv::Range(0, 3), cv::Range(0, 3)));
- T_camera_target.copyTo(camera_target(cv::Range(3, 4), cv::Range(0, 3)));
- camera_target.at<float>(3, 3) = 1;
- CHECK(camera_target.isContinuous());
- const auto data_offset = builder.fbb()->CreateVector<float>(
- reinterpret_cast<float *>(camera_target.data), camera_target.total());
- pose_builder.add_camera_to_target(
- sift::CreateTransformationMatrix(*builder.fbb(), data_offset));
+ CHECK_EQ(cv::Size(3, 3), R_camera_target.size());
+ CHECK_EQ(cv::Size(3, 1), T_camera_target.size());
+ cv::Mat camera_target = cv::Mat::zeros(4, 4, CV_32F);
+ R_camera_target.copyTo(camera_target(cv::Range(0, 3), cv::Range(0, 3)));
+ T_camera_target.copyTo(camera_target(cv::Range(3, 4), cv::Range(0, 3)));
+ camera_target.at<float>(3, 3) = 1;
+ CHECK(camera_target.isContinuous());
+ const auto data_offset = builder.fbb()->CreateVector<float>(
+ reinterpret_cast<float *>(camera_target.data), camera_target.total());
+ pose_builder.add_camera_to_target(
+ sift::CreateTransformationMatrix(*builder.fbb(), data_offset));
}
pose_builder.add_field_to_target(
aos::CopyFlatBuffer(FieldToTarget(i), builder.fbb()));
@@ -355,7 +354,8 @@
aos::ShmEventLoop event_loop(&config.message());
V4L2Reader v4l2_reader(&event_loop, "/dev/video0");
- CameraReader camera_reader(&event_loop, training_data, &v4l2_reader, &matcher);
+ CameraReader camera_reader(&event_loop, training_data, &v4l2_reader,
+ &matcher);
event_loop.Run();
}
@@ -364,7 +364,6 @@
} // namespace vision
} // namespace frc971
-
int main(int argc, char **argv) {
aos::InitGoogle(&argc, &argv);
frc971::vision::CameraReaderMain();