Default to not overriding config in target mapping
We only need to override when new channels were add it. Sometimes
overriding breaks the code if we had to make channel names changes, like
what we did to /logger/camera for GamePieces.
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I9c9b07bc17ab727244fda1ccd6cfd7f3bed46c31
diff --git a/y2023/vision/target_mapping.cc b/y2023/vision/target_mapping.cc
index 9e52c20..9352bdd 100644
--- a/y2023/vision/target_mapping.cc
+++ b/y2023/vision/target_mapping.cc
@@ -20,8 +20,8 @@
DEFINE_string(json_path, "y2023/vision/maps/target_map.json",
"Specify path for json with initial pose guesses.");
-DEFINE_string(config, "y2023/aos_config.json",
- "Path to the config file to use.");
+DEFINE_string(config, "",
+ "If set, override the log's config file with this one.");
DEFINE_string(constants_path, "y2023/constants/constants.json",
"Path to the constant file");
DEFINE_string(output_dir, "y2023/vision/maps",
@@ -127,12 +127,15 @@
std::vector<DataAdapter::TimestampedDetection> timestamped_target_detections;
- aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig(FLAGS_config);
+ std::optional<aos::FlatbufferDetachedBuffer<aos::Configuration>> config =
+ (FLAGS_config.empty()
+ ? std::nullopt
+ : std::make_optional(aos::configuration::ReadConfig(FLAGS_config)));
// open logfiles
- aos::logger::LogReader reader(aos::logger::SortParts(unsorted_logfiles),
- &config.message());
+ aos::logger::LogReader reader(
+ aos::logger::SortParts(unsorted_logfiles),
+ config.has_value() ? &config->message() : nullptr);
// Send new april tag poses. This allows us to take a log of images, then play
// with the april detection code and see those changes take effect in mapping
constexpr size_t kNumPis = 4;