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SCRIPT namespace replacements

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This commit is contained in:
PJ Reiniger
2025-11-07 20:00:05 -05:00
committed by Peter Johnson
parent ae6c043632
commit 9aca8e0fd6
2622 changed files with 22275 additions and 22275 deletions
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14
tools/wpical/src/main/native/cpp/WPIcal.cpp
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@@ -148,7 +148,7 @@ static bool EmitEntryTarget(int tag_id, std::string& file) {
return rv;
}
void saveCalibration(wpi::json& field, std::string& output_directory,
void saveCalibration(wpi::util::json& field, std::string& output_directory,
std::string output_name, bool& isCalibrating) {
if (!field.empty() && !output_directory.empty()) {
std::cout << "Saving calibration to " << output_directory << std::endl;
@@ -198,8 +198,8 @@ static void DisplayGui() {
field_calibration_directory_selector;
static std::unique_ptr<pfd::select_folder> download_directory_selector;
static wpi::json field_calibration_json;
static wpi::json field_combination_json;
static wpi::util::json field_calibration_json;
static wpi::util::json field_combination_json;
static std::string selected_camera_intrinsics;
static std::string selected_field_map;
@@ -534,8 +534,8 @@ static void DisplayGui() {
std::ifstream calJson(output_calibration_json_path);
std::ifstream refJson(selected_field_map);
currentCalibrationMap = Fieldmap(wpi::json::parse(calJson));
currentReferenceMap = Fieldmap(wpi::json::parse(refJson));
currentCalibrationMap = Fieldmap(wpi::util::json::parse(calJson));
currentReferenceMap = Fieldmap(wpi::util::json::parse(refJson));
if (currentCalibrationMap.getNumTags() !=
currentReferenceMap.getNumTags()) {
@@ -616,7 +616,7 @@ static void DisplayGui() {
if (!selected_field_map.empty()) {
drawCheck();
std::ifstream json(selected_field_map);
currentReferenceMap = Fieldmap(wpi::json::parse(json));
currentReferenceMap = Fieldmap(wpi::util::json::parse(json));
currentCombinerMap = currentReferenceMap;
}
openFilesButton("Select Field Calibrations",
@@ -660,7 +660,7 @@ static void DisplayGui() {
if (ImGui::Button("Download", ImVec2(0, 0))) {
for (auto& [key, val] : combiner_map) {
std::ifstream json(val);
Fieldmap map(wpi::json::parse(json));
Fieldmap map(wpi::util::json::parse(json));
currentCombinerMap.replaceTag(key, map.getTag(key));
}
field_combination_json = currentCombinerMap.toJson();

26
tools/wpical/src/main/native/cpp/fieldcalibration.cpp
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@@ -96,11 +96,11 @@ inline cameracalibration::CameraModel load_camera_model(std::string path) {
std::ifstream file(path);
wpi::json json_data;
wpi::util::json json_data;
try {
json_data = wpi::json::parse(file);
} catch (const wpi::json::parse_error& e) {
json_data = wpi::util::json::parse(file);
} catch (const wpi::util::json::parse_error& e) {
std::cout << e.what() << std::endl;
}
@@ -150,7 +150,7 @@ inline cameracalibration::CameraModel load_camera_model(std::string path) {
return camera_model;
}
inline cameracalibration::CameraModel load_camera_model(wpi::json json_data) {
inline cameracalibration::CameraModel load_camera_model(wpi::util::json json_data) {
// Camera matrix
Eigen::Matrix<double, 3, 3> camera_matrix;
@@ -176,10 +176,10 @@ inline cameracalibration::CameraModel load_camera_model(wpi::json json_data) {
return camera_model;
}
inline std::map<int, wpi::json> load_ideal_map(std::string path) {
inline std::map<int, wpi::util::json> load_ideal_map(std::string path) {
std::ifstream file(path);
wpi::json json_data = wpi::json::parse(file);
std::map<int, wpi::json> ideal_map;
wpi::util::json json_data = wpi::util::json::parse(file);
std::map<int, wpi::util::json> ideal_map;
for (const auto& element : json_data["tags"]) {
ideal_map[element["ID"]] = element;
@@ -189,7 +189,7 @@ inline std::map<int, wpi::json> load_ideal_map(std::string path) {
}
Eigen::Matrix<double, 4, 4> get_tag_transform(
std::map<int, wpi::json>& ideal_map, int tag_id) {
std::map<int, wpi::util::json>& ideal_map, int tag_id) {
Eigen::Matrix<double, 4, 4> transform =
Eigen::Matrix<double, 4, 4>::Identity();
@@ -432,7 +432,7 @@ inline bool process_video_file(
}
int fieldcalibration::calibrate(std::string input_dir_path,
wpi::json& output_json,
wpi::util::json& output_json,
std::string camera_model_path,
std::string ideal_map_path, int pinned_tag_id,
bool show_debug_window) {
@@ -452,13 +452,13 @@ int fieldcalibration::calibrate(std::string input_dir_path,
return 1;
}
wpi::json json = wpi::json::parse(std::ifstream(ideal_map_path));
wpi::util::json json = wpi::util::json::parse(std::ifstream(ideal_map_path));
if (!json.contains("tags")) {
return 1;
}
// Load ideal field map
std::map<int, wpi::json> ideal_map;
std::map<int, wpi::util::json> ideal_map;
try {
ideal_map = load_ideal_map(ideal_map_path);
} catch (...) {
@@ -552,7 +552,7 @@ int fieldcalibration::calibrate(std::string input_dir_path,
std::cout << summary.BriefReport() << std::endl;
// Output
std::map<int, wpi::json> observed_map = ideal_map;
std::map<int, wpi::util::json> observed_map = ideal_map;
Eigen::Matrix<double, 4, 4> correction_a;
correction_a << 0, 0, -1, 0, 1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 0, 1;
@@ -594,7 +594,7 @@ int fieldcalibration::calibrate(std::string input_dir_path,
corrected_transform_q.w();
}
wpi::json observed_map_json;
wpi::util::json observed_map_json;
for (const auto& [tag_id, tag_json] : observed_map) {
observed_map_json["tags"].push_back(tag_json);

6
tools/wpical/src/main/native/cpp/fmap.cpp
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@@ -7,7 +7,7 @@
#include <string>
#include <vector>
wpi::json fmap::singleTag(int tag, const tag::Pose& tagpose) {
wpi::util::json fmap::singleTag(int tag, const tag::Pose& tagpose) {
std::vector<double> transform = {};
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
@@ -22,7 +22,7 @@ wpi::json fmap::singleTag(int tag, const tag::Pose& tagpose) {
{"unique", true}};
}
wpi::json fmap::convertfmap(const wpi::json& json) {
wpi::util::json fmap::convertfmap(const wpi::util::json& json) {
std::string fmapstart = "{\"fiducials\":[";
std::string fmapend = "],\"type\":\"frc\"}";
@@ -36,5 +36,5 @@ wpi::json fmap::convertfmap(const wpi::json& json) {
}
}
return wpi::json::parse(fmapstart.append(fmapend));
return wpi::util::json::parse(fmapstart.append(fmapend));
}

2
tools/wpical/src/main/native/cpp/tagpose.cpp
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@@ -32,7 +32,7 @@ Pose::Pose(int tag_id, double xpos, double ypos, double zpos, double w,
yawRot = eulerAngles[2];
}
wpi::json Pose::toJson() {
wpi::util::json Pose::toJson() {
return {{"ID", tagId},
{"pose",
{{"translation", {{"x", xPos}, {"y", yPos}, {"z", zPos}}},

2
tools/wpical/src/main/native/include/cameracalibration.hpp
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@@ -40,7 +40,7 @@ static void dumpJson(CameraModel& camera_model,
camera_model.distortion_coefficients.data() +
camera_model.distortion_coefficients.size());
wpi::json result = {
wpi::util::json result = {
{"camera_matrix", camera_matrix},
{"distortion_coefficients", distortion_coefficients},
{"avg_reprojection_error", camera_model.avg_reprojection_error}};

2
tools/wpical/src/main/native/include/fieldcalibration.hpp
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@@ -10,7 +10,7 @@
#include "wpi/util/json.hpp"
namespace fieldcalibration {
int calibrate(std::string input_dir_path, wpi::json& output_json,
int calibrate(std::string input_dir_path, wpi::util::json& output_json,
std::string camera_model_path, std::string ideal_map_path,
int pinned_tag_id, bool show_debug_window);
} // namespace fieldcalibration

6
tools/wpical/src/main/native/include/fieldmap.hpp
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@@ -13,7 +13,7 @@
class Fieldmap {
public:
Fieldmap() = default;
explicit Fieldmap(const wpi::json& json) {
explicit Fieldmap(const wpi::util::json& json) {
double field_length_meters =
static_cast<double>(json.at("field").at("length"));
double field_width_meters =
@@ -50,8 +50,8 @@ class Fieldmap {
bool hasTag(int tag) { return tagMap.find(tag) != tagMap.end(); }
wpi::json toJson() {
wpi::json json;
wpi::util::json toJson() {
wpi::util::json json;
for (auto& [key, val] : tagMap) {
json["tags"].push_back(val.toJson());
}

4
tools/wpical/src/main/native/include/fmap.hpp
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@@ -9,6 +9,6 @@
#include "wpi/util/json.hpp"
namespace fmap {
wpi::json singleTag(int tag, const tag::Pose& tagpose);
wpi::json convertfmap(const wpi::json& json);
wpi::util::json singleTag(int tag, const tag::Pose& tagpose);
wpi::util::json convertfmap(const wpi::util::json& json);
} // namespace fmap

2
tools/wpical/src/main/native/include/tagpose.hpp
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@@ -20,6 +20,6 @@ class Pose {
Eigen::Quaterniond quaternion;
Eigen::Matrix3d rotationMatrix;
Eigen::Matrix4d transformMatrixFmap;
wpi::json toJson();
wpi::util::json toJson();
};
} // namespace tag

2
tools/wpical/src/main/native/thirdparty/mrcal/src/poseutils-uses-autodiff.cpp vendored
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@@ -288,7 +288,7 @@ compose_r_core(// output
Described here:
Altmann, Simon L. "Hamilton, Rodrigues, and the Quaternion Scandal."
Altmann, Simon L. "Hamilton, Rodrigues, and the wpi::math::Quaternion Scandal."
Mathematics Magazine, vol. 62, no. 5, 1989, pp. 291–308
Available here: