Factor out JsonOptions into a struct
Change-Id: I2441069e86ea2eb95d8e1952be7c2a7a43036c74
diff --git a/y2020/vision/calibration.cc b/y2020/vision/calibration.cc
index 15f1f4c..6cf9e8e 100644
--- a/y2020/vision/calibration.cc
+++ b/y2020/vision/calibration.cc
@@ -96,7 +96,6 @@
namespace {
-
void ViewerMain() {
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
aos::configuration::ReadConfig(FLAGS_config);
@@ -139,107 +138,104 @@
absl::StrCat("/pi", std::to_string(pi_number.value()), "/camera");
LOG(INFO) << "Connecting to channel " << channel;
- event_loop.MakeWatcher(
- channel, [&event_loop, &board, &all_charuco_ids, &all_charuco_corners,
- camera_matrix, dist_coeffs,
- eigen_camera_matrix](const CameraImage &image) {
- const aos::monotonic_clock::duration age =
- event_loop.monotonic_now() -
- event_loop.context().monotonic_event_time;
- const double age_double =
- std::chrono::duration_cast<std::chrono::duration<double>>(age)
- .count();
- if (age > std::chrono::milliseconds(100)) {
- LOG(INFO) << "Age: " << age_double << ", getting behind, skipping";
- return;
- }
- // Create color image:
- cv::Mat image_color_mat(cv::Size(image.cols(), image.rows()), CV_8UC2,
- (void *)image.data()->data());
- const cv::Size image_size(image.cols(), image.rows());
- cv::Mat rgb_image(image_size, CV_8UC3);
- cv::cvtColor(image_color_mat, rgb_image, CV_YUV2BGR_YUYV);
+ event_loop.MakeWatcher(channel, [&event_loop, &board, &all_charuco_ids,
+ &all_charuco_corners, camera_matrix,
+ dist_coeffs, eigen_camera_matrix](
+ const CameraImage &image) {
+ const aos::monotonic_clock::duration age =
+ event_loop.monotonic_now() - event_loop.context().monotonic_event_time;
+ const double age_double =
+ std::chrono::duration_cast<std::chrono::duration<double>>(age).count();
+ if (age > std::chrono::milliseconds(100)) {
+ LOG(INFO) << "Age: " << age_double << ", getting behind, skipping";
+ return;
+ }
+ // Create color image:
+ cv::Mat image_color_mat(cv::Size(image.cols(), image.rows()), CV_8UC2,
+ (void *)image.data()->data());
+ const cv::Size image_size(image.cols(), image.rows());
+ cv::Mat rgb_image(image_size, CV_8UC3);
+ cv::cvtColor(image_color_mat, rgb_image, CV_YUV2BGR_YUYV);
- std::vector<int> marker_ids;
- std::vector<std::vector<cv::Point2f>> marker_corners;
+ std::vector<int> marker_ids;
+ std::vector<std::vector<cv::Point2f>> marker_corners;
- cv::aruco::detectMarkers(rgb_image, board->dictionary, marker_corners,
- marker_ids);
+ cv::aruco::detectMarkers(rgb_image, board->dictionary, marker_corners,
+ marker_ids);
- std::vector<cv::Point2f> charuco_corners;
- std::vector<int> charuco_ids;
- // If at least one marker detected
- if (marker_ids.size() >= FLAGS_min_targets) {
- // Run everything twice, once with the calibration, and once without.
- // This lets us both calibrate, and also print out the pose real time
- // with the previous calibration.
- cv::aruco::interpolateCornersCharuco(marker_corners, marker_ids,
- rgb_image, board,
- charuco_corners, charuco_ids);
+ std::vector<cv::Point2f> charuco_corners;
+ std::vector<int> charuco_ids;
+ // If at least one marker detected
+ if (marker_ids.size() >= FLAGS_min_targets) {
+ // Run everything twice, once with the calibration, and once without.
+ // This lets us both calibrate, and also print out the pose real time
+ // with the previous calibration.
+ cv::aruco::interpolateCornersCharuco(marker_corners, marker_ids,
+ rgb_image, board, charuco_corners,
+ charuco_ids);
- std::vector<cv::Point2f> charuco_corners_with_calibration;
- std::vector<int> charuco_ids_with_calibration;
+ std::vector<cv::Point2f> charuco_corners_with_calibration;
+ std::vector<int> charuco_ids_with_calibration;
- cv::aruco::interpolateCornersCharuco(
- marker_corners, marker_ids, rgb_image, board,
- charuco_corners_with_calibration, charuco_ids_with_calibration,
- camera_matrix, dist_coeffs);
+ cv::aruco::interpolateCornersCharuco(
+ marker_corners, marker_ids, rgb_image, board,
+ charuco_corners_with_calibration, charuco_ids_with_calibration,
+ camera_matrix, dist_coeffs);
- cv::aruco::drawDetectedMarkers(rgb_image, marker_corners, marker_ids);
+ cv::aruco::drawDetectedMarkers(rgb_image, marker_corners, marker_ids);
- if (charuco_ids.size() >= FLAGS_min_targets) {
- cv::aruco::drawDetectedCornersCharuco(
- rgb_image, charuco_corners, charuco_ids, cv::Scalar(255, 0, 0));
+ if (charuco_ids.size() >= FLAGS_min_targets) {
+ cv::aruco::drawDetectedCornersCharuco(
+ rgb_image, charuco_corners, charuco_ids, cv::Scalar(255, 0, 0));
- cv::Vec3d rvec, tvec;
- bool valid = cv::aruco::estimatePoseCharucoBoard(
- charuco_corners_with_calibration, charuco_ids_with_calibration,
- board, camera_matrix, dist_coeffs, rvec, tvec);
+ cv::Vec3d rvec, tvec;
+ bool valid = cv::aruco::estimatePoseCharucoBoard(
+ charuco_corners_with_calibration, charuco_ids_with_calibration,
+ board, camera_matrix, dist_coeffs, rvec, tvec);
-
- // if charuco pose is valid
- if (valid) {
- LOG(INFO) << std::fixed << std::setprecision(6)
- << "Age: " << age_double << ", Pose is R:" << rvec
- << " T:" << tvec;
- cv::aruco::drawAxis(rgb_image, camera_matrix,
- dist_coeffs, rvec, tvec, 0.1);
- } else {
- LOG(INFO) << "Age: " << age_double << ", invalid pose";
- }
- } else {
- LOG(INFO) << "Age: " << age_double << ", no charuco IDs.";
- }
+ // if charuco pose is valid
+ if (valid) {
+ LOG(INFO) << std::fixed << std::setprecision(6)
+ << "Age: " << age_double << ", Pose is R:" << rvec
+ << " T:" << tvec;
+ cv::aruco::drawAxis(rgb_image, camera_matrix, dist_coeffs, rvec, tvec,
+ 0.1);
} else {
- LOG(INFO) << "Age: " << age_double << ", no marker IDs";
+ LOG(INFO) << "Age: " << age_double << ", invalid pose";
}
+ } else {
+ LOG(INFO) << "Age: " << age_double << ", no charuco IDs.";
+ }
+ } else {
+ LOG(INFO) << "Age: " << age_double << ", no marker IDs";
+ }
- cv::imshow("Display", rgb_image);
+ cv::imshow("Display", rgb_image);
- if (FLAGS_display_undistorted) {
- cv::Mat undistorted_rgb_image(image_size, CV_8UC3);
- cv::undistort(rgb_image, undistorted_rgb_image, camera_matrix,
- dist_coeffs);
+ if (FLAGS_display_undistorted) {
+ cv::Mat undistorted_rgb_image(image_size, CV_8UC3);
+ cv::undistort(rgb_image, undistorted_rgb_image, camera_matrix,
+ dist_coeffs);
- cv::imshow("Display undist", undistorted_rgb_image);
- }
+ cv::imshow("Display undist", undistorted_rgb_image);
+ }
- int keystroke = cv::waitKey(1);
- if ((keystroke & 0xFF) == static_cast<int>('c')) {
- if (charuco_ids.size() >= FLAGS_min_targets) {
- all_charuco_ids.emplace_back(std::move(charuco_ids));
- all_charuco_corners.emplace_back(std::move(charuco_corners));
- LOG(INFO) << "Image " << all_charuco_corners.size();
- }
+ int keystroke = cv::waitKey(1);
+ if ((keystroke & 0xFF) == static_cast<int>('c')) {
+ if (charuco_ids.size() >= FLAGS_min_targets) {
+ all_charuco_ids.emplace_back(std::move(charuco_ids));
+ all_charuco_corners.emplace_back(std::move(charuco_corners));
+ LOG(INFO) << "Image " << all_charuco_corners.size();
+ }
- if (all_charuco_ids.size() >= 50) {
- LOG(INFO) << "Got enough images to calibrate";
- event_loop.Exit();
- }
- } else if ((keystroke & 0xFF) == static_cast<int>('q')) {
- event_loop.Exit();
- }
- });
+ if (all_charuco_ids.size() >= 50) {
+ LOG(INFO) << "Got enough images to calibrate";
+ event_loop.Exit();
+ }
+ } else if ((keystroke & 0xFF) == static_cast<int>('q')) {
+ event_loop.Exit();
+ }
+ });
event_loop.Run();
@@ -302,10 +298,12 @@
pi_number.value(), time_ss.str());
LOG(INFO) << calibration_filename << " -> "
- << aos::FlatbufferToJson(camera_calibration, true);
+ << aos::FlatbufferToJson(camera_calibration,
+ {.multi_line = true});
aos::util::WriteStringToFileOrDie(
- calibration_filename, aos::FlatbufferToJson(camera_calibration, true));
+ calibration_filename,
+ aos::FlatbufferToJson(camera_calibration, {.multi_line = true}));
} else {
LOG(INFO) << "Skipping calibration due to not enough images.";
}