commit a30a4a1cf6a7c14ec166c35f44a13375ad7e1b80
author milind-u <milind.upadhyay@gmail.com> Fri Mar 24 20:49:41 2023 -0700
committer Milind Upadhyay <milind.upadhyay@gmail.com> Sat Mar 25 18:25:35 2023 -0700
tree ad81d775470367b51d5502043c3bf4e5f28bb853
parent 95b677b2ba7d43de79c81d37bde57b3b974b12c9

Allow visualizing detections from multiple pis

That way, we can see how much different pose estimates agree with each
other on where the robot is.

Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: Ibc5dbe86f5b836ad77b356fa74bc752cc652afab

y2023/vision/aprilrobotics.h

diff --git a/y2023/vision/aprilrobotics.h b/y2023/vision/aprilrobotics.h
index 7caa848..66d82a1 100644
--- a/y2023/vision/aprilrobotics.h
+++ b/y2023/vision/aprilrobotics.h
@@ -38,7 +38,7 @@
   };
 
   AprilRoboticsDetector(aos::EventLoop *event_loop,
-                        std::string_view channel_name);
+                        std::string_view channel_name, bool flip_image = true);
   ~AprilRoboticsDetector();
 
   void SetWorkerpoolAffinities();
@@ -78,6 +78,8 @@
   std::optional<cv::Mat> extrinsics_;
   cv::Mat dist_coeffs_;
   cv::Size image_size_;
+  bool flip_image_;
+  std::string_view node_name_;
 
   aos::Ftrace ftrace_;