braid-april-cal: minor refactoring

strawlab · Jan 13, 2025 · b811d18 · b811d18
1 parent 224e748
commit b811d18
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Showing 4 changed files with 14 additions and 11 deletions.
diff --git a/braid-april-cal/braid-april-cal-webapp/src/lib.rs b/braid-april-cal/braid-april-cal-webapp/src/lib.rs
@@ -14,13 +14,13 @@ use braid_april_cal::*;
 
 pub struct Model {
     fiducial_3d_coords: MaybeCsvData<Fiducial3DCoords>,
-    per_camera_2d: BTreeMap<String, (AprilConfig, CsvData<DetectionSerializer>)>,
+    per_camera_2d: BTreeMap<String, (AprilConfig, CsvData<AprilDetection>)>,
     computed_calibration: Option<CalibrationResult>,
 }
 
 pub enum Msg {
     Fiducial3dCoordsData(MaybeCsvData<Fiducial3DCoords>),
-    DetectionSerializerData(MaybeCsvData<DetectionSerializer>),
+    DetectionSerializerData(MaybeCsvData<AprilDetection>),
     RemoveCamera(String),
     ComputeCal,
     DownloadXmlCal,
@@ -133,7 +133,7 @@ impl Component for Model {
             <h2>{"Input: Automatically detected camera coordinates of April Tag fiducial markers"}</h2>
             <p>{"The file must be a CSV file saved by the April Tag detector of Strand Cam. (Required \
                  columns: id, h02, h12 where (h02,h12) is tag center.)"}</p>
-            <CsvDataField<DetectionSerializer>
+            <CsvDataField<AprilDetection>
                 button_text={"Upload a camera coordinate CSV file."}
                 onfile={ctx.link().callback(Msg::DetectionSerializerData)}
                 />

diff --git a/braid-april-cal/flytrax-apriltags-calibration/src/lib.rs b/braid-april-cal/flytrax-apriltags-calibration/src/lib.rs
@@ -187,7 +187,7 @@ pub fn compute_extrinsics(cli: &ComputeExtrinsicsArgs) -> anyhow::Result<SingleC
 
         let detections2: Vec<_> = detections
             .iter()
-            .map(|d| DetectionSerializer {
+            .map(|d| AprilDetection {
                 id: d.id,
                 h02: d.x,
                 h12: d.y,

diff --git a/braid-april-cal/src/lib.rs b/braid-april-cal/src/lib.rs
@@ -123,9 +123,12 @@ pub struct Fiducial3DCoords {
     pub z: f64,
 }
 
-// The center pixel of the detection is (h02,h12)
-#[derive(Serialize, Deserialize, Debug, Clone, PartialEq)]
-pub struct DetectionSerializer {
+/// For deserializing a detection.
+///
+/// Note that other fields are likely saved (e.g. `h00`), but we just ignore
+/// those as they are not necessary for our purposes here.
+#[derive(Deserialize, Debug, Clone, PartialEq)]
+pub struct AprilDetection {
     pub id: i32,
     pub h02: f64,
     pub h12: f64,
@@ -199,7 +202,7 @@ pub fn get_apriltag_cfg<R: std::io::Read>(rdr: R) -> Result<AprilConfig, MyError
 // #[derive(Serialize, Deserialize)]
 pub struct CalData {
     pub fiducial_3d_coords: Vec<Fiducial3DCoords>,
-    pub per_camera_2d: BTreeMap<String, (AprilConfig, Vec<DetectionSerializer>)>,
+    pub per_camera_2d: BTreeMap<String, (AprilConfig, Vec<AprilDetection>)>,
     pub known_good_intrinsics: Option<BTreeMap<String, NamedIntrinsicParameters<f64>>>,
 }
 
@@ -230,7 +233,7 @@ impl CalibrationResult {
 
 fn gather_points_per_cam(
     object_points: &BTreeMap<u32, [f64; 3]>,
-    cam_data: &[DetectionSerializer],
+    cam_data: &[AprilDetection],
 ) -> Result<Vec<AprilTagCorrespondingPoint<f64>>, MyError> {
     // Iterate through all rows of detection data to collect all detections
     // per marker.

diff --git a/braid-april-cal/tests/integration-test.rs b/braid-april-cal/tests/integration-test.rs
@@ -22,7 +22,7 @@ fn gen_cal() -> CalibrationResult {
     let per_camera_2d = cams_bufs
         .into_iter()
         .map(|buf| {
-            let detections = parse_csv::<DetectionSerializer>("camera-detections.csv".into(), &buf);
+            let detections = parse_csv::<AprilDetection>("camera-detections.csv".into(), &buf);
             match detections {
                 MaybeCsvData::Valid(csv_data) => {
                     let datavec = csv_data.rows().to_vec();
@@ -127,7 +127,7 @@ fn solve_pnp_with_prior_intrinsics() -> anyhow::Result<()> {
     let per_camera_2d = cams_bufs
         .into_iter()
         .map(|buf| {
-            let detections = parse_csv::<DetectionSerializer>("camera-detections.csv".into(), &buf);
+            let detections = parse_csv::<AprilDetection>("camera-detections.csv".into(), &buf);
             match detections {
                 MaybeCsvData::Valid(csv_data) => {
                     let datavec = csv_data.rows().to_vec();