commit c6e42eeb273f7d100497676b5585ccb7b14b4835
author Milind Upadhyay <milind.upadhyay@gmail.com> Tue Dec 27 00:02:11 2022 -0800
committer Milind Upadhyay <milind.upadhyay@gmail.com> Mon Jan 09 19:23:13 2023 -0700
tree 515afb704637e3ad450dab6b748a314322241079
parent 915d6002bb67d632999b1b260464cb5d07275d49

Add field for image channel in charuco lib

Allows us to easily send it to /camera/decimated for mapping, which is
what we're using until we start logging at full frequency.

Also, move some command line flags out of charuco lib to avoid manually setting flags.

Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: Iae4d9ed06260154a0fb4d4c67ea03b06a28e4411

y2020/vision/extrinsics_calibration.cc

diff --git a/y2020/vision/extrinsics_calibration.cc b/y2020/vision/extrinsics_calibration.cc
index cf0c8f2..3702355 100644
--- a/y2020/vision/extrinsics_calibration.cc
+++ b/y2020/vision/extrinsics_calibration.cc
@@ -65,7 +65,7 @@
 
     // Now, hook Calibration up to everything.
     Calibration extractor(&factory, pi_event_loop.get(), imu_event_loop.get(),
-                          FLAGS_pi, &data);
+                          FLAGS_pi, TargetType::kCharuco, "/camera", &data);
 
     if (FLAGS_turret) {
       aos::NodeEventLoopFactory *roborio_factory =