Add ABSL flags to select_camera.cc

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.16)
 project(BOS CXX C CUDA)
 
 set(CMAKE_BUILD_TYPE Release)
@@ -16,6 +16,17 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++20")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
 
+include(FetchContent)
+
+set(ABSL_PROPAGATE_CXX_STD ON)
+
+FetchContent_Declare(
+  abseil-cpp
+  GIT_REPOSITORY https://github.com/abseil/abseil-cpp.git
+  GIT_TAG 20240116.2
+)
+FetchContent_MakeAvailable(abseil-cpp)
+
 include_directories(/usr/local/cuda/include)
 link_directories(/usr/local/cuda/lib64)
 
@@ -32,5 +43,6 @@ find_package(realsense2 REQUIRED)
 add_subdirectory(third_party/json)
 add_subdirectory(third_party/971apriltag)
 
+
 add_compile_options(-Wno-psabi)
-add_subdirectory(src)
+add_subdirectory(src)

src/camera/select_camera.cc

@@ -1,12 +1,37 @@
 #include "src/camera/select_camera.h"
 #include <iostream>
+#include <memory>
 #include <opencv2/opencv.hpp>
+#include <string>
+#include <unordered_map>
 #include "cv_camera.h"
 #include "src/camera/camera_constants.h"
 #include "src/camera/realsense_camera.h"
 
+ABSL_FLAG(std::string, camera_choice, "usb0",
+          "Camera options\n"
+          "Options:\n"
+          "  mipi0\n"
+          "  mipi1\n"
+          "  usb0\n"
+          "  usb1\n"
+          "  usb2\n"
+          "  usb3\n"
+          "  defaultusb0\n"
+          "  realsense");
+
 namespace camera {
 
+const std::unordered_map<std::string, Camera> name_to_camera{
+    {"mipi0", Camera::IMX296_0},
+    {"mipi1", Camera::IMX296_1},
+    {"usb0", Camera::USB0},
+    {"usb1", Camera::USB1},
+    {"usb2", Camera::USB2},
+    {"usb3", Camera::USB3},
+    {"defaultusb0", Camera::DEFAULT_USB0},
+    {"realsense", Camera::REALSENSE}};
+
 /*
     Asks Users for input and selects camera based on that.
     If any input is invalid, the function returns a call to itself.
@@ -17,6 +42,20 @@ void PrintCameraConstant(Camera camera) {
   std::cout << "Pipline: " << camera_constants[camera].pipeline << std::endl;
 }
 
+// can be called with  const std::string& choice = absl::GetFlag(FLAGS_camera_choice);
+// to access the absl flag value
+Camera SelectCameraConfig(const std::string& name) {
+  if (!name_to_camera.count(name)) {
+    std::cout << "Warning: no camera found for name " + name << std::endl;
+    std::cout << "Retrying..." << std::endl;
+    return SelectCameraConfig();
+  }
+
+  Camera cam = name_to_camera[name];
+  PrintCameraConstant(cam);
+  return cam;
+}
+
 Camera SelectCameraConfig() {
   std::cout << "Please type in what camera you want." << std::endl;
   std::cout << "Options: " << std::endl;
@@ -32,34 +71,7 @@ Camera SelectCameraConfig() {
   std::string choice;
   std::cin >> choice;
 
-  if (choice == "mipi0") {
-    PrintCameraConstant(Camera::IMX296_0);
-    return Camera::IMX296_0;
-  } else if (choice == "mipi1") {
-    PrintCameraConstant(Camera::IMX296_1);
-    return Camera::IMX296_1;
-  } else if (choice == "usb0") {
-    PrintCameraConstant(Camera::USB0);
-    return Camera::USB0;
-  } else if (choice == "usb1") {
-    PrintCameraConstant(Camera::USB1);
-    return Camera::USB1;
-  } else if (choice == "usb2") {
-    PrintCameraConstant(Camera::USB2);
-    return Camera::USB2;
-  } else if (choice == "usb3") {
-    PrintCameraConstant(Camera::USB3);
-    return Camera::USB3;
-  } else if (choice == "defaultusb0") {
-    PrintCameraConstant(Camera::DEFAULT_USB0);
-    return Camera::DEFAULT_USB0;
-  } else if (choice == "realsense") {
-    PrintCameraConstant(Camera::REALSENSE);
-    return Camera::REALSENSE;
-  } else {
-    std::cout << "You did not give a valid input. Retrying..." << std::endl;
-    return SelectCameraConfig();
-  }
+  return SelectCameraConfig(choice);
 }
 
 std::unique_ptr<ICamera> GetCameraStream(Camera camera) {