[SymForce] Add all the camera cals to types_t and define TypeEnum

In order to support adding camera cals to `Values`, we need to add corresponding enums to `type_t`.

I didn't want to have a situation where we add new camera cals and have to remember to manually add them to `type_t`, so I set it to add all subclasses of `CameraCal` (note, only immediate children; subclasses of subclasses won't be added because there are no examples currently and I didn't want to go overkill).

The logic for coming up with the camera cal enum names was too complicated to want to keep in the jinja file I thought, so I pass it in from the outside.

Since we generate the lcm types in both `test/symforce_lcm_codegen_test.py` and `codegen/geo_package_codegen.py`, I put the logic in a new file, `codegen/lcm_types_codegen.py`, which can then be imported into both.

ALSO

For the same purpose, we also need `StorageOps<T>::EnumType` to be defined for `T` a camera cal type, so I also do that in this PR.

GitOrigin-RevId: 25f5827f00b3cd7546e382405e62d0e820551d67

Author: bradley-solliday-skydio

gen/cpp/sym/ops/atan_camera_cal/storage_ops.h

@@ -108,5 +108,10 @@ enum type_t : int32_t {
   MATRIX99 = 91,
 
   // Camera calibrations
-  LINEAR_CAMERA_CAL = 92,
+  ATAN_CAMERA_CAL = 92,
+  DOUBLE_SPHERE_CAMERA_CAL = 93,
+  EQUIDISTANT_EPIPOLAR_CAMERA_CAL = 94,
+  LINEAR_CAMERA_CAL = 95,
+  POLYNOMIAL_CAMERA_CAL = 96,
+  SPHERICAL_CAMERA_CAL = 97,
 };

gen/cpp/sym/ops/double_sphere_camera_cal/storage_ops.h

@@ -1,9 +1,7 @@
 #pragma once
 
 #include <sym/{{ camelcase_to_snakecase(cls.__name__) }}.h>
-{% if "geo" in cls.__module__ %}
 #include {{ lcm_type_t_include_dir }}
-{% endif %}
 
 namespace sym {
 
@@ -22,11 +20,11 @@ struct StorageOps<{{ cls.__name__ }}<ScalarType>> {
   static void ToStorage(const T& a, ScalarType* out);
   static T FromStorage(const ScalarType* data);
 
-  {% if "geo" in cls.__module__ %}
   static constexpr type_t TypeEnum() {
-    return type_t::{{ cls.__name__.upper() }};
+    return type_t::{{ python_util.camelcase_to_screaming_snakecase(cls.__name__) }};
   }
 
+  {% if "geo" in cls.__module__ %}
   template <typename Generator>
   static T Random(Generator& gen) {
     return T::Random(gen);

gen/cpp/sym/ops/equidistant_epipolar_camera_cal/storage_ops.h

@@ -15,6 +15,7 @@
 from symforce.codegen import CppConfig
 from symforce.codegen import PythonConfig
 from symforce.codegen import codegen_util
+from symforce.codegen import lcm_types_codegen
 from symforce.codegen import template_util
 
 # Default geo types to generate
@@ -316,7 +317,7 @@ def generate(config: CodegenConfig, output_dir: str = None) -> str:
     templates.add(
         str(pathlib.Path(template_util.LCM_TEMPLATE_DIR, "symforce_types.lcm.jinja")),
         str(package_dir / ".." / "lcmtypes" / "lcmtypes" / "symforce_types.lcm"),
-        {},
+        lcm_types_codegen.lcm_symforce_types_data(),
     )
 
     templates.render()

gen/cpp/sym/ops/linear_camera_cal/storage_ops.h

@@ -32,5 +32,8 @@ enum type_t : int32_t {
   {% endfor %}
 
   // Camera calibrations
-  LINEAR_CAMERA_CAL = {{ k.value }},
+  {% for name in camera_cal_enum_names %}
+  {{ name }} = {{ k.value }},
+  {% set k.value = k.value + 1 %}
+  {% endfor %}
 };

gen/cpp/sym/ops/polynomial_camera_cal/storage_ops.h

@@ -0,0 +1,15 @@
+from symforce import cam
+from symforce import python_util
+from symforce import typing as T
+
+
+def lcm_symforce_types_data() -> T.Dict[str, T.Any]:
+    """
+    Returns data for template generation with lcm_templates/symforce_types.lcm.jinja.
+    """
+    enums = [
+        python_util.camelcase_to_screaming_snakecase(cal_cls.__name__)
+        for cal_cls in cam.CameraCal.__subclasses__()
+    ]
+    enums.sort()
+    return dict(camera_cal_enum_names=enums)

gen/cpp/sym/ops/spherical_camera_cal/storage_ops.h

@@ -100,6 +100,13 @@ def snakecase_to_camelcase(s: str) -> str:
     )
 
 
+def camelcase_to_screaming_snakecase(s: str) -> str:
+    """
+    Convert CamelCase -> SCREAMING_SNAKE_CASE
+    """
+    return camelcase_to_snakecase(s).upper()
+
+
 def str_replace_all(s: str, replacements: T.Dict[str, str]) -> str:
     """
     Call str.replace(old, new) for every pair (old, new) in replacements

lcmtypes/symforce_types.lcm

@@ -1,5 +1,6 @@
 import os
 
+from symforce.codegen.lcm_types_codegen import lcm_symforce_types_data
 from symforce.codegen import template_util
 from symforce.test_util import TestCase
 
@@ -12,7 +13,7 @@ def test_generate_lcm(self) -> None:
 
         template_util.render_template(
             os.path.join(template_util.LCM_TEMPLATE_DIR, "symforce_types.lcm.jinja"),
-            data={},
+            data=lcm_symforce_types_data(),
             output_path=os.path.join(output_dir, "symforce_types.lcm"),
         )