t/cli: Add calib-dump command

src/xrt/targets/cli/CMakeLists.txt

@@ -6,6 +6,7 @@
 
 add_executable(
 	cli
+	cli_cmd_calibration_dump.c
 	cli_cmd_lighthouse.c
 	cli_cmd_probe.c
 	cli_cmd_slambatch.c
@@ -20,6 +21,10 @@ if(NOT WIN32)
 	target_sources(cli PRIVATE cli_cmd_calibrate.c)
 endif()
 
+if(XRT_HAVE_OPENCV)
+	target_link_libraries(cli PRIVATE aux_tracking)
+endif()
+
 set_target_properties(cli PROPERTIES OUTPUT_NAME monado-cli PREFIX "")
 
 target_link_libraries(

src/xrt/targets/cli/cli_cmd_calibration_dump.c

@@ -0,0 +1,48 @@
+// Copyright 2019-2023, Collabora, Ltd.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief  Loads and dumps a calibration file.
+ * @author Jakob Bornecrantz <jakob@collabora.com>
+ */
+
+#include "xrt/xrt_compiler.h"
+#include "xrt/xrt_config_have.h"
+
+#include "cli_common.h"
+
+#ifdef XRT_HAVE_OPENCV
+#include "tracking/t_tracking.h"
+#endif
+
+#include <string.h>
+#include <stdio.h>
+
+#define P(...) fprintf(stderr, __VA_ARGS__)
+
+int
+cli_cmd_calibration_dump(int argc, const char **argv)
+{
+#ifdef XRT_HAVE_OPENCV
+	if (argc < 3) {
+		P("Must be given a file path\n");
+		return 1;
+	}
+
+	const char *filename = argv[2];
+
+	struct t_stereo_camera_calibration *data = NULL;
+	if (!t_stereo_camera_calibration_load(filename, &data)) {
+		P("Could not load '%s'!\n", filename);
+		return 1;
+	}
+
+	t_stereo_camera_calibration_dump(data);
+	t_stereo_camera_calibration_reference(&data, NULL);
+
+	return 0;
+#else
+	P("Not compiled with XRT_HAVE_OPENCV, so can't load calibration files!\n");
+	return 1;
+#endif
+}

src/xrt/targets/cli/cli_common.h

@@ -17,6 +17,9 @@ extern "C" {
 int
 cli_cmd_calibrate(int argc, const char **argv);
 
+int
+cli_cmd_calibration_dump(int argc, const char **argv);
+
 int
 cli_cmd_lighthouse(int argc, const char **argv);
 

src/xrt/targets/cli/cli_main.c

@@ -24,13 +24,14 @@ cli_print_help(int argc, const char **argv)
 	}
 
 	P("Monado-CLI 0.0.1\n");
-	P("Usage: %s command [options]\n", argv[0]);
+	P("Usage: %s command [options] [file]\n", argv[0]);
 	P("\n");
 	P("Commands:\n");
 	P("  test       - List found devices, for prober testing.\n");
 	P("  probe      - Just probe and then exit.\n");
 	P("  lighthouse - Control the power of lighthouses [on|off].\n");
 	P("  calibrate  - Calibrate a camera and save config (not implemented yet).\n");
+	P("  calib-dumb - Load and dump a calibration to stdout.\n");
 	P("  slambatch  - Runs a sequence of EuRoC datasets with the SLAM tracker.\n");
 
 	return 1;
@@ -54,6 +55,9 @@ main(int argc, const char **argv)
 		return cli_cmd_calibrate(argc, argv);
 	}
 #endif // !XRT_OS_WINDOWS
+	if (strcmp(argv[1], "calib-dump") == 0) {
+		return cli_cmd_calibration_dump(argc, argv);
+	}
 	if (strcmp(argv[1], "lighthouse") == 0) {
 		return cli_cmd_lighthouse(argc, argv);
 	}