commit 7e95881230ed5ea9049dea0f6c1be58608590f13
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Feb 11 15:34:31 2023 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Feb 11 15:49:07 2023 -0800
tree b0d2e5de66378c21d0b7acd2d4a8b7fa5e4af453
parent 9cf2c3ea4c751809acc43b0779e070f2e040047f

Light refactoring of intrinsics calibration code

Change-Id: Ic7e7a621d9e03ef85e6d3074bff993ee3e470aca
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2022/BUILD

diff --git a/y2022/BUILD b/y2022/BUILD
index 3d4dac3..5d32f15 100644
--- a/y2022/BUILD
+++ b/y2022/BUILD
@@ -39,7 +39,7 @@
 robot_downloader(
     name = "pi_download",
     binaries = [
-        "//y2020/vision:calibration",
+        "//frc971/vision:intrinsics_calibration",
         "//y2022/vision:viewer",
         "//y2022/localizer:imu_main",
         "//y2022/localizer:localizer_main",

y2022/vision/calibrate_extrinsics.cc

diff --git a/y2022/vision/calibrate_extrinsics.cc b/y2022/vision/calibrate_extrinsics.cc
index 04b24ea..6793bc4 100644
--- a/y2022/vision/calibrate_extrinsics.cc
+++ b/y2022/vision/calibrate_extrinsics.cc
@@ -11,9 +11,6 @@
 #include "frc971/vision/extrinsics_calibration.h"
 #include "frc971/vision/vision_generated.h"
 #include "frc971/wpilib/imu_batch_generated.h"
-#include "y2020/vision/sift/sift_generated.h"
-#include "y2020/vision/sift/sift_training_generated.h"
-#include "y2020/vision/tools/python_code/sift_training_data.h"
 #include "y2022/control_loops/superstructure/superstructure_status_generated.h"
 
 DEFINE_string(pi, "pi-7971-2", "Pi name to calibrate.");
@@ -24,6 +21,8 @@
 DEFINE_string(image_channel, "/camera", "Channel to listen for images on");
 DEFINE_string(output_logs, "/tmp/calibration/",
               "Output folder for visualization logs.");
+DEFINE_string(base_intrinsics, "",
+              "Intrinsics to use for extrinsics calibration.");
 
 namespace frc971 {
 namespace vision {
@@ -97,9 +96,13 @@
                  << ", expected: aruco|charuco|charuco_diamond";
     }
 
+    aos::FlatbufferDetachedBuffer<calibration::CameraCalibration> intrinsics =
+        aos::JsonFileToFlatbuffer<calibration::CameraCalibration>(
+            FLAGS_base_intrinsics);
     // Now, hook Calibration up to everything.
     Calibration extractor(&factory, pi_event_loop.get(), imu_event_loop.get(),
-                          FLAGS_pi, target_type, FLAGS_image_channel, &data);
+                          FLAGS_pi, &intrinsics.message(), target_type,
+                          FLAGS_image_channel, &data);
 
     if (FLAGS_turret) {
       aos::NodeEventLoopFactory *roborio_factory =