Merge "Ignore camera-to-robot pitch/roll in y2020 localizer"
diff --git a/aos/flatbuffers.h b/aos/flatbuffers.h
index aa1e279..5bef204 100644
--- a/aos/flatbuffers.h
+++ b/aos/flatbuffers.h
@@ -176,40 +176,6 @@
absl::Span<const uint8_t> data_;
};
-// String backed flatbuffer.
-template <typename T>
-class FlatbufferString : public NonSizePrefixedFlatbuffer<T> {
- public:
- // Builds a flatbuffer using the contents of the string.
- FlatbufferString(const std::string_view data) : data_(data) {}
- // Builds a Flatbuffer by copying the data from the other flatbuffer.
- FlatbufferString(const NonSizePrefixedFlatbuffer<T> &other) {
- absl::Span<const uint8_t> d = other.span();
- data_ = std::string(reinterpret_cast<const char *>(d.data()), d.size());
- }
-
- // Copies the data from the other flatbuffer.
- FlatbufferString &operator=(const NonSizePrefixedFlatbuffer<T> &other) {
- absl::Span<const uint8_t> d = other.span();
- data_ = std::string(reinterpret_cast<const char *>(d.data()), d.size());
- return *this;
- }
-
- virtual ~FlatbufferString() override {}
-
- absl::Span<uint8_t> span() override {
- return absl::Span<uint8_t>(reinterpret_cast<uint8_t *>(data_.data()),
- data_.size());
- }
- absl::Span<const uint8_t> span() const override {
- return absl::Span<const uint8_t>(
- reinterpret_cast<const uint8_t *>(data_.data()), data_.size());
- }
-
- private:
- std::string data_;
-};
-
// ResizeableBuffer backed flatbuffer.
template <typename T>
class FlatbufferVector : public NonSizePrefixedFlatbuffer<T> {
diff --git a/aos/testing/flatbuffer_eq.h b/aos/testing/flatbuffer_eq.h
index b6b93d9..c4b708b 100644
--- a/aos/testing/flatbuffer_eq.h
+++ b/aos/testing/flatbuffer_eq.h
@@ -51,7 +51,7 @@
template <typename T>
class FlatbufferEqMatcher : public ::testing::MatcherInterface<const T *> {
public:
- FlatbufferEqMatcher(aos::FlatbufferString<T> expected)
+ FlatbufferEqMatcher(aos::FlatbufferSpan<T> expected)
: expected_(std::move(expected)) {}
~FlatbufferEqMatcher() override = default;
@@ -70,7 +70,7 @@
}
private:
- const aos::FlatbufferString<T> expected_;
+ const aos::FlatbufferSpan<T> expected_;
};
// Returns a googlemock matcher which will compare a `const T *` or a `const
@@ -81,7 +81,7 @@
template <typename T>
inline auto FlatbufferEq(const aos::NonSizePrefixedFlatbuffer<T> &expected) {
return FlatbufferUnwrapped(::testing::MakeMatcher(
- new FlatbufferEqMatcher(aos::FlatbufferString<T>(expected))));
+ new FlatbufferEqMatcher(aos::FlatbufferSpan<T>(expected))));
}
} // namespace testing
diff --git a/y2020/vision/calibration.cc b/y2020/vision/calibration.cc
index 6cf9e8e..4365b60 100644
--- a/y2020/vision/calibration.cc
+++ b/y2020/vision/calibration.cc
@@ -1,5 +1,10 @@
+// These need to come before opencv, or they don't compile. Presumably opencv
+// #defines something annoying.
+// clang-format off
#include "Eigen/Dense"
#include "Eigen/Geometry"
+// clang-format on
+
#include <opencv2/aruco/charuco.hpp>
#include <opencv2/calib3d.hpp>
#include <opencv2/core/eigen.hpp>
@@ -37,17 +42,11 @@
class CameraCalibration {
public:
- CameraCalibration(const std::string_view training_data_bfbs) {
- const sift::TrainingData *const training_data =
- flatbuffers::GetRoot<sift::TrainingData>(training_data_bfbs.data());
- {
- flatbuffers::Verifier verifier(
- reinterpret_cast<const uint8_t *>(training_data_bfbs.data()),
- training_data_bfbs.size());
- CHECK(training_data->Verify(verifier));
- }
-
- camera_calibration_ = FindCameraCalibration(training_data);
+ CameraCalibration(const absl::Span<const uint8_t> training_data_bfbs) {
+ const aos::FlatbufferSpan<sift::TrainingData> training_data(
+ training_data_bfbs);
+ CHECK(training_data.Verify());
+ camera_calibration_ = FindCameraCalibration(&training_data.message());
}
cv::Mat CameraIntrinsics() const {
diff --git a/y2020/vision/camera_reader.cc b/y2020/vision/camera_reader.cc
index 24e9ae1..ed2b4b9 100644
--- a/y2020/vision/camera_reader.cc
+++ b/y2020/vision/camera_reader.cc
@@ -6,7 +6,6 @@
#include "aos/flatbuffer_merge.h"
#include "aos/init.h"
#include "aos/network/team_number.h"
-
#include "y2020/vision/sift/sift971.h"
#include "y2020/vision/sift/sift_generated.h"
#include "y2020/vision/sift/sift_training_generated.h"
@@ -599,15 +598,9 @@
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
aos::configuration::ReadConfig(FLAGS_config);
- const auto training_data_bfbs = SiftTrainingData();
- const sift::TrainingData *const training_data =
- flatbuffers::GetRoot<sift::TrainingData>(training_data_bfbs.data());
- {
- flatbuffers::Verifier verifier(
- reinterpret_cast<const uint8_t *>(training_data_bfbs.data()),
- training_data_bfbs.size());
- CHECK(training_data->Verify(verifier));
- }
+ const aos::FlatbufferSpan<sift::TrainingData> training_data(
+ SiftTrainingData());
+ CHECK(training_data.Verify());
const auto index_params = cv::makePtr<cv::flann::IndexParams>();
index_params->setAlgorithm(cvflann::FLANN_INDEX_KDTREE);
@@ -622,13 +615,12 @@
{
aos::Sender<sift::TrainingData> training_data_sender =
event_loop.MakeSender<sift::TrainingData>("/camera");
- training_data_sender.Send(
- aos::FlatbufferString<sift::TrainingData>(training_data_bfbs));
+ training_data_sender.Send(training_data);
}
V4L2Reader v4l2_reader(&event_loop, "/dev/video0");
- CameraReader camera_reader(&event_loop, training_data, &v4l2_reader,
- &matcher);
+ CameraReader camera_reader(&event_loop, &training_data.message(),
+ &v4l2_reader, &matcher);
event_loop.Run();
}
diff --git a/y2020/vision/tools/python_code/BUILD b/y2020/vision/tools/python_code/BUILD
index 4ff3397..6223d76 100644
--- a/y2020/vision/tools/python_code/BUILD
+++ b/y2020/vision/tools/python_code/BUILD
@@ -49,6 +49,9 @@
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
+ deps = [
+ "@com_google_absl//absl/types:span",
+ ],
)
py_binary(
@@ -102,6 +105,9 @@
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
+ deps = [
+ "@com_google_absl//absl/types:span",
+ ],
)
cc_test(
diff --git a/y2020/vision/tools/python_code/load_sift_training.py b/y2020/vision/tools/python_code/load_sift_training.py
index 402e468..2dc5cf2 100644
--- a/y2020/vision/tools/python_code/load_sift_training.py
+++ b/y2020/vision/tools/python_code/load_sift_training.py
@@ -219,13 +219,14 @@
output_prefix = [
b'#ifndef Y2020_VISION_TOOLS_PYTHON_CODE_TRAINING_DATA_H_',
b'#define Y2020_VISION_TOOLS_PYTHON_CODE_TRAINING_DATA_H_',
- b'#include <string_view>',
+ b'#include <stdint.h>',
+ b'#include "absl/types/span.h"',
b'namespace frc971 {',
b'namespace vision {',
- b'inline std::string_view SiftTrainingData() {',
+ b'inline absl::Span<const uint8_t> SiftTrainingData() {',
]
output_suffix = [
- b' return std::string_view(kData, sizeof(kData));',
+ b' return absl::Span<const uint8_t>(reinterpret_cast<const uint8_t *>(kData), sizeof(kData));',
b'}',
b'} // namespace vision',
b'} // namespace frc971',