Light refactoring of intrinsics calibration code
Change-Id: Ic7e7a621d9e03ef85e6d3074bff993ee3e470aca
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/vision/intrinsics_calibration.cc b/frc971/vision/intrinsics_calibration.cc
new file mode 100644
index 0000000..224a37c
--- /dev/null
+++ b/frc971/vision/intrinsics_calibration.cc
@@ -0,0 +1,60 @@
+#include <cmath>
+#include <opencv2/calib3d.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+#include <regex>
+
+#include "absl/strings/str_format.h"
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "aos/network/team_number.h"
+#include "aos/time/time.h"
+#include "aos/util/file.h"
+#include "frc971/vision/intrinsics_calibration_lib.h"
+
+DEFINE_string(calibration_folder, ".", "Folder to place calibration files.");
+DEFINE_string(camera_id, "", "Camera ID in format YY-NN-- year and number.");
+DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
+DEFINE_bool(display_undistorted, false,
+ "If true, display the undistorted image.");
+DEFINE_string(pi, "", "Pi name to calibrate.");
+DEFINE_string(base_intrinsics, "",
+ "Intrinsics to use for estimating board pose prior to solving "
+ "for the new intrinsics.");
+
+namespace frc971 {
+namespace vision {
+namespace {
+
+void Main() {
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+
+ aos::ShmEventLoop event_loop(&config.message());
+
+ std::string hostname = FLAGS_pi;
+ if (hostname == "") {
+ hostname = aos::network::GetHostname();
+ LOG(INFO) << "Using pi name from hostname as " << hostname;
+ }
+ CHECK(!FLAGS_base_intrinsics.empty())
+ << "Need a base intrinsics json to use to auto-capture images when the "
+ "camera moves.";
+ std::unique_ptr<aos::ExitHandle> exit_handle = event_loop.MakeExitHandle();
+ IntrinsicsCalibration extractor(
+ &event_loop, hostname, FLAGS_camera_id, FLAGS_base_intrinsics,
+ FLAGS_display_undistorted, FLAGS_calibration_folder, exit_handle.get());
+
+ event_loop.Run();
+
+ extractor.MaybeCalibrate();
+}
+
+} // namespace
+} // namespace vision
+} // namespace frc971
+
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+ frc971::vision::Main();
+}