Light refactoring of intrinsics calibration code
Change-Id: Ic7e7a621d9e03ef85e6d3074bff993ee3e470aca
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/vision/calibration_accumulator.cc b/frc971/vision/calibration_accumulator.cc
index ea9af28..711ed7d 100644
--- a/frc971/vision/calibration_accumulator.cc
+++ b/frc971/vision/calibration_accumulator.cc
@@ -140,11 +140,13 @@
node, channel_overrides);
}
-Calibration::Calibration(aos::SimulatedEventLoopFactory *event_loop_factory,
- aos::EventLoop *image_event_loop,
- aos::EventLoop *imu_event_loop, std::string_view pi,
- TargetType target_type, std::string_view image_channel,
- CalibrationData *data)
+Calibration::Calibration(
+ aos::SimulatedEventLoopFactory *event_loop_factory,
+ aos::EventLoop *image_event_loop, aos::EventLoop *imu_event_loop,
+ std::string_view pi,
+ const calibration::CameraCalibration *intrinsics_calibration,
+ TargetType target_type, std::string_view image_channel,
+ CalibrationData *data)
: image_event_loop_(image_event_loop),
image_factory_(event_loop_factory->GetNodeEventLoopFactory(
image_event_loop_->node())),
@@ -152,7 +154,7 @@
imu_factory_(
event_loop_factory->GetNodeEventLoopFactory(imu_event_loop_->node())),
charuco_extractor_(
- image_event_loop_, pi, target_type, image_channel,
+ image_event_loop_, intrinsics_calibration, target_type, image_channel,
[this](cv::Mat rgb_image, monotonic_clock::time_point eof,
std::vector<cv::Vec4i> charuco_ids,
std::vector<std::vector<cv::Point2f>> charuco_corners,