Small tweaks to get extrinsics to work and add some debugging info
Added workaround to support foxglove-- still need to figure out annotations
Remove fixed extrinsics from initial calibration file
Use charuco_diamond by default for extrinsic calibration
Change-Id: Ia2410b227cf3531a4a68e861128deb3c2fe4aa79
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/frc971/vision/calibration_accumulator.cc b/frc971/vision/calibration_accumulator.cc
index 711ed7d..f01af3c 100644
--- a/frc971/vision/calibration_accumulator.cc
+++ b/frc971/vision/calibration_accumulator.cc
@@ -8,11 +8,11 @@
#include "aos/events/simulated_event_loop.h"
#include "aos/network/team_number.h"
#include "aos/time/time.h"
+#include "external/com_github_foxglove_schemas/CompressedImage_schema.h"
+#include "external/com_github_foxglove_schemas/ImageAnnotations_schema.h"
#include "frc971/control_loops/quaternion_utils.h"
#include "frc971/vision/charuco_lib.h"
#include "frc971/wpilib/imu_batch_generated.h"
-#include "external/com_github_foxglove_schemas/ImageAnnotations_schema.h"
-#include "external/com_github_foxglove_schemas/CompressedImage_schema.h"
DEFINE_bool(display_undistorted, false,
"If true, display the undistorted image.");
@@ -116,10 +116,10 @@
CalibrationFoxgloveVisualizer::CalibrationFoxgloveVisualizer(
aos::EventLoop *event_loop)
: event_loop_(event_loop),
- image_converter_(event_loop_, "/camera", "/visualization",
+ image_converter_(event_loop_, "/camera", "/camera",
ImageCompression::kJpeg),
annotations_sender_(
- event_loop_->MakeSender<foxglove::ImageAnnotations>("/visualization")) {}
+ event_loop_->MakeSender<foxglove::ImageAnnotations>("/camera")) {}
aos::FlatbufferDetachedBuffer<aos::Configuration>
CalibrationFoxgloveVisualizer::AddVisualizationChannels(