clean up

Author: powei-lin

src/bin/camera_calibration.rs

@@ -1,12 +1,10 @@
-use aprilgrid::detector::TagDetector;
 use aprilgrid::TagFamily;
+use aprilgrid::detector::TagDetector;
 use camera_intrinsic_calibration::board::Board;
-use camera_intrinsic_calibration::board::{
-    board_config_from_json, board_config_to_json, BoardConfig,
-};
+use camera_intrinsic_calibration::board::BoardConfig;
 use camera_intrinsic_calibration::data_loader::{load_euroc, load_others};
 use camera_intrinsic_calibration::detected_points::FrameFeature;
-use camera_intrinsic_calibration::io::{extrinsics_to_json, write_report};
+use camera_intrinsic_calibration::io::{object_from_json, object_to_json, write_report};
 use camera_intrinsic_calibration::types::{CalibParams, Extrinsics, RvecTvec, ToRvecTvec};
 use camera_intrinsic_calibration::util::*;
 use camera_intrinsic_calibration::visualization::*;
@@ -74,10 +72,10 @@ fn main() {
     let cli = CCRSCli::parse();
     let detector = TagDetector::new(&cli.tag_family, None);
     let board = if let Some(board_config_path) = cli.board_config {
-        Board::from_config(&board_config_from_json(&board_config_path))
+        Board::from_config(&object_from_json(&board_config_path))
     } else {
         let config = BoardConfig::default();
-        board_config_to_json("default_board_config.json", &config);
+        object_to_json("default_board_config.json", &config);
         Board::from_config(&config)
     };
     let dataset_root = &cli.path;
@@ -221,7 +219,7 @@ fn main() {
         }
         write_report(&format!("{}/report.txt", output_folder), true, &rep_rms);
 
-        extrinsics_to_json(
+        object_to_json(
             &format!("{}/extrinsics.json", output_folder),
             &Extrinsics::new(&t_i_0),
         );

src/board.rs

@@ -1,6 +1,6 @@
 use glam;
 use serde::{Deserialize, Serialize};
-use std::{collections::HashMap, io::Write};
+use std::collections::HashMap;
 
 #[derive(Debug, Serialize, Deserialize)]
 pub struct BoardConfig {
@@ -11,18 +11,6 @@ pub struct BoardConfig {
     first_id: u32,
 }
 
-pub fn board_config_to_json(output_path: &str, board_config: &BoardConfig) {
-    let j = serde_json::to_string_pretty(board_config).unwrap();
-    let mut file = std::fs::File::create(output_path).unwrap();
-    file.write_all(j.as_bytes()).unwrap();
-}
-
-pub fn board_config_from_json(file_path: &str) -> BoardConfig {
-    let contents =
-        std::fs::read_to_string(file_path).expect("Should have been able to read the file");
-    serde_json::from_str(&contents).unwrap()
-}
-
 impl Default for BoardConfig {
     fn default() -> Self {
         Self {

src/io.rs

@@ -1,12 +1,17 @@
 use std::io::Write;
 
-use crate::types::Extrinsics;
+use serde::{Serialize, de::DeserializeOwned};
 
-pub fn extrinsics_to_json(output_path: &str, extrinsic: &Extrinsics) {
-    let j = serde_json::to_string_pretty(extrinsic).unwrap();
+pub fn object_to_json<T: Serialize>(output_path: &str, object: &T) {
+    let j = serde_json::to_string_pretty(object).unwrap();
     let mut file = std::fs::File::create(output_path).unwrap();
     file.write_all(j.as_bytes()).unwrap();
 }
+pub fn object_from_json<T: DeserializeOwned>(file_path: &str) -> T {
+    let contents =
+        std::fs::read_to_string(file_path).expect("Should have been able to read the file");
+    serde_json::from_str(&contents).unwrap()
+}
 
 pub fn write_report(output_path: &str, with_extrinsic: bool, rep_rms: &[(f64, f64)]) {
     let mut s = String::new();

src/util.rs

@@ -13,15 +13,15 @@ use log::debug;
 use nalgebra as na;
 use rand::seq::SliceRandom;
 use rerun::RecordingStream;
-use tiny_solver::loss_functions::HuberLoss;
 use tiny_solver::Optimizer;
+use tiny_solver::loss_functions::HuberLoss;
 
 pub fn rtvec_to_na_dvec(
     rtvec: ((f64, f64, f64), (f64, f64, f64)),
 ) -> (na::DVector<f64>, na::DVector<f64>) {
     (
-        na::dvector![rtvec.0 .0, rtvec.0 .1, rtvec.0 .2],
-        na::dvector![rtvec.1 .0, rtvec.1 .1, rtvec.1 .2],
+        na::dvector![rtvec.0.0, rtvec.0.1, rtvec.0.2],
+        na::dvector![rtvec.1.0, rtvec.1.1, rtvec.1.2],
     )
 }
 

src/visualization.rs

@@ -12,7 +12,7 @@ pub fn log_image(recording: &RecordingStream, topic: &str, img: &DynamicImage) {
     img.write_to(&mut Cursor::new(&mut bytes), image::ImageFormat::Png)
         .expect("not able to write png");
     let rr_image = rerun::EncodedImage::from_file_contents(bytes);
-    recording.log(format!("{}", topic), &rr_image).unwrap();
+    recording.log(topic.to_string(), &rr_image).unwrap();
 }
 
 pub fn id_to_color(id: usize) -> (u8, u8, u8, u8) {