From 552ff9185a8b97ee74637ee8cb6f58c36f374ddb Mon Sep 17 00:00:00 2001
From: Andrew Straw <strawman@astraw.com>
Date: Mon, 13 Jan 2025 10:59:52 +0100
Subject: [PATCH] braid-april-cal: do not require opencv by default

---
 braid-april-cal/Cargo.toml                    |  2 --
 .../braid-april-cal-webapp/Cargo.toml         |  2 +-
 .../flytrax-apriltags-calibration/Cargo.toml  |  2 +-
 braid-april-cal/src/lib.rs                    | 23 +++++++++++--------
 braid-april-cal/tests/integration-test.rs     |  3 +++
 5 files changed, 18 insertions(+), 14 deletions(-)

diff --git a/braid-april-cal/Cargo.toml b/braid-april-cal/Cargo.toml
index 2f821f0de..6e7f8bf5b 100644
--- a/braid-april-cal/Cargo.toml
+++ b/braid-april-cal/Cargo.toml
@@ -28,6 +28,4 @@ anyhow.workspace = true
 ads-webasm = { workspace = true, features = ["csv-widget"] }
 
 [features]
-default = ["solve-pnp"]
-
 solve-pnp = ["opencv-calibrate"]
diff --git a/braid-april-cal/braid-april-cal-webapp/Cargo.toml b/braid-april-cal/braid-april-cal-webapp/Cargo.toml
index c6c3e9b02..4f0dad2a5 100644
--- a/braid-april-cal/braid-april-cal-webapp/Cargo.toml
+++ b/braid-april-cal/braid-april-cal-webapp/Cargo.toml
@@ -26,6 +26,6 @@ wasm-logger.workspace = true
 chrono.workspace = true
 
 ads-webasm = { workspace = true, features = ["csv-widget"] }
-braid-april-cal = { path = "..", default-features = false }
+braid-april-cal.workspace = true
 
 [features]
diff --git a/braid-april-cal/flytrax-apriltags-calibration/Cargo.toml b/braid-april-cal/flytrax-apriltags-calibration/Cargo.toml
index f5b6a620a..c248427dc 100644
--- a/braid-april-cal/flytrax-apriltags-calibration/Cargo.toml
+++ b/braid-april-cal/flytrax-apriltags-calibration/Cargo.toml
@@ -20,7 +20,7 @@ tracing.workspace = true
 
 ads-webasm = { workspace = true, features = ["csv-widget"] }
 ads-apriltag.workspace = true
-braid-april-cal.workspace = true
+braid-april-cal = { workspace = true, features = ["solve-pnp"] }
 convert-image.workspace = true
 flydra-types.workspace = true
 flytrax-io.workspace = true
diff --git a/braid-april-cal/src/lib.rs b/braid-april-cal/src/lib.rs
index 390acfad4..788fca5a0 100644
--- a/braid-april-cal/src/lib.rs
+++ b/braid-april-cal/src/lib.rs
@@ -292,11 +292,11 @@ fn dlt(
     Ok(linear_cam)
 }
 
+#[cfg(feature = "solve-pnp")]
 fn solve_extrinsics(
     points: Vec<AprilTagCorrespondingPoint<f64>>,
     intrinsics: &NamedIntrinsicParameters<f64>,
 ) -> Result<CamSolution, MyError> {
-    #[cfg(feature = "solve-pnp")]
     {
         let cv_points: Vec<opencv_calibrate::CorrespondingPoint> = points
             .iter()
@@ -361,13 +361,6 @@ fn solve_extrinsics(
 
         Ok(CamSolution { final_cam, points })
     }
-    #[cfg(not(feature = "solve-pnp"))]
-    {
-        let _ = (intrinsics, points);
-        Err(MyError {
-            msg: "'solve-pnp' feature must be enabled to solve extrinsics".into(),
-        })
-    }
 }
 
 fn dlt_then_distortion(
@@ -440,8 +433,18 @@ pub fn do_calibrate_system(src_data: &CalData) -> Result<CalibrationResult, MyEr
         }
 
         let sln = if let Some(kgi) = src_data.known_good_intrinsics.as_ref() {
-            let known_good_intrinsics = kgi.get(cam_name).unwrap();
-            solve_extrinsics(points, known_good_intrinsics)?
+            #[cfg(feature = "solve-pnp")]
+            {
+                let known_good_intrinsics = kgi.get(cam_name).unwrap();
+                solve_extrinsics(points, known_good_intrinsics)?
+            }
+            #[cfg(not(feature = "solve-pnp"))]
+            {
+                let _ = kgi;
+                return Err(MyError {
+                    msg: "'solve-pnp' feature must be enabled to solve extrinsics when intrinsics provided".into(),
+                });
+            }
         } else {
             dlt_then_distortion(cfg, points)?
         };
diff --git a/braid-april-cal/tests/integration-test.rs b/braid-april-cal/tests/integration-test.rs
index 7e1ed7686..55e6e4ad8 100644
--- a/braid-april-cal/tests/integration-test.rs
+++ b/braid-april-cal/tests/integration-test.rs
@@ -1,5 +1,7 @@
 use ads_webasm::components::{parse_csv, MaybeCsvData};
 use braid_april_cal::*;
+
+#[cfg(feature = "solve-pnp")]
 use opencv_ros_camera::{NamedIntrinsicParameters, RosCameraInfo};
 
 fn gen_cal() -> CalibrationResult {
@@ -107,6 +109,7 @@ fn test_calibration_pymvg() {
 }
 
 #[test]
+#[cfg(feature = "solve-pnp")]
 fn solve_pnp_with_prior_intrinsics() -> anyhow::Result<()> {
     let fiducial_3d_coords_buf = include_bytes!("data-single-cam/apriltags_coordinates.csv");
     let fiducial_3d_coords = parse_csv::<Fiducial3DCoords>(