commit 7aa29e2769a0de6465f625ffea8f4c3df65fca2e
author milind-u <milind.upadhyay@gmail.com> Thu Feb 23 20:22:01 2023 -0800
committer milind-u <milind.upadhyay@gmail.com> Thu Feb 23 20:26:55 2023 -0800
tree 4b01644590114f65f7e3a630d2707ffb4764bcca
parent ee67abd01eb5bf1a1b94941379ec50fb33b9bee6

Send april corners for foxglove displaying

Deleted AprilDebug and switched to foxglove image annotations.
Also made the displayed points a more visible color (pink).

Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: Ifb89784d00c80406237587acf17c40424632069b

frc971/vision/calibration_accumulator.h

diff --git a/frc971/vision/calibration_accumulator.h b/frc971/vision/calibration_accumulator.h
index 93d68a5..4b59406 100644
--- a/frc971/vision/calibration_accumulator.h
+++ b/frc971/vision/calibration_accumulator.h
@@ -88,8 +88,8 @@
   void HandleCharuco(const aos::monotonic_clock::time_point eof,
                      std::vector<std::vector<cv::Point2f>> charuco_corners) {
     auto builder = annotations_sender_.MakeBuilder();
-    builder.CheckOk(
-        builder.Send(BuildAnnotations(eof, charuco_corners, builder.fbb())));
+    builder.CheckOk(builder.Send(
+        BuildAnnotations(eof, charuco_corners, 2.0, builder.fbb())));
   }
 
  private:

frc971/vision/charuco_lib.cc

diff --git a/frc971/vision/charuco_lib.cc b/frc971/vision/charuco_lib.cc
index dbff4db..2f9e81a 100644
--- a/frc971/vision/charuco_lib.cc
+++ b/frc971/vision/charuco_lib.cc
@@ -457,14 +457,15 @@
 
 flatbuffers::Offset<foxglove::ImageAnnotations> BuildAnnotations(
     const aos::monotonic_clock::time_point monotonic_now,
-    const std::vector<std::vector<cv::Point2f>> &corners,
+    const std::vector<std::vector<cv::Point2f>> &corners, double thickness,
     flatbuffers::FlatBufferBuilder *fbb) {
   std::vector<flatbuffers::Offset<foxglove::PointsAnnotation>> rectangles;
   const struct timespec now_t = aos::time::to_timespec(monotonic_now);
   foxglove::Time time{static_cast<uint32_t>(now_t.tv_sec),
                       static_cast<uint32_t>(now_t.tv_nsec)};
+  // Draw the points in pink
   const flatbuffers::Offset<foxglove::Color> color_offset =
-      foxglove::CreateColor(*fbb, 0.0, 1.0, 0.0, 1.0);
+      foxglove::CreateColor(*fbb, 1.0, 0.75, 0.8, 1.0);
   for (const std::vector<cv::Point2f> &rectangle : corners) {
     std::vector<flatbuffers::Offset<foxglove::Point2>> points_offsets;
     for (const cv::Point2f &point : rectangle) {
@@ -482,7 +483,7 @@
     points_builder.add_points(points_offset);
     points_builder.add_outline_color(color_offset);
     points_builder.add_outline_colors(colors_offset);
-    points_builder.add_thickness(2.0);
+    points_builder.add_thickness(thickness);
     rectangles.push_back(points_builder.Finish());
   }
 

frc971/vision/charuco_lib.h

diff --git a/frc971/vision/charuco_lib.h b/frc971/vision/charuco_lib.h
index 40b1601..f1846b5 100644
--- a/frc971/vision/charuco_lib.h
+++ b/frc971/vision/charuco_lib.h
@@ -175,7 +175,7 @@
 // visualization purposes.
 flatbuffers::Offset<foxglove::ImageAnnotations> BuildAnnotations(
     const aos::monotonic_clock::time_point monotonic_now,
-    const std::vector<std::vector<cv::Point2f>> &corners,
+    const std::vector<std::vector<cv::Point2f>> &corners, double thickness,
     flatbuffers::FlatBufferBuilder *fbb);
 
 }  // namespace vision