wpical was unable to use wpimath and its dependent libraries because
Ceres was compiled with a different version of Eigen. Now that the Ceres
build has been redone and shipped in #8151, we can now use wpimath and
our C++ apriltag wrapper in wpical, allowing for major refactors. This
includes:
* Using `to_json` and `from_json` specializations to concisely serialize
and deserialize all JSON files instead of manually handling JSON.
* Removal of the `Fieldmap` and `Pose` classes, which were duplicates of
the `AprilTagFieldLayout` and `Pose3d` classes respectively.
* Using `AprilTagDetector` instead of the raw libapriltag library.
* Using `Pose3d` instead of raw Eigen matrices.
In addition, several other refactors were made to make the code more
readable and to fix several UX issues and crashes. This includes:
* Eagerly parsing every JSON file when selected by the user. This means
JSON files are only parsed once on selection, instead of every time a
downstream function wants to use the data. This also means invalid JSON
can be detected upfront and a specific error shown immediately instead
of a catch all error when trying to calibrate.
* Using `std::optional` to indicate a calibration failed instead of
status codes.
* Processing videos on separate threads to not block the UI thread and
take advantage of parallelization for camera calibration. (2x speedup on
my laptop)
* Removing the OpenCV calibration option, since mrcal should be better
in every scenario.
* Showing a progress bar for camera calibration.
* Breaking up the massive `DisplayGui` function into separate functions
which contain code for different popups. This also allowed for better
organization and scoping of static variables.
* Renaming variables to make their purpose more clear.
* Displaying the tags present in a field layout when trying to combine
multiple field layouts.
Fixes#7722.
After replacing the remaining include guards with `#pragma once`, I was
able to merge all the wpiformat configs into one file in the repo root.
This should make the config easier to reason about and maintain in the
future.
