Move calibration flatbuffer to frc971
This was the exact same in 2022 and 2023, and the namespace was already
frc971.
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: Ibc92525cc7f946116399524e9799139669f73d96
diff --git a/y2023/BUILD b/y2023/BUILD
index dc3bb67..dbc069a 100644
--- a/y2023/BUILD
+++ b/y2023/BUILD
@@ -73,8 +73,8 @@
"//aos/network:timestamp_fbs",
"//aos/network:remote_message_fbs",
"//y2022/localizer:localizer_output_fbs",
+ "//frc971/vision:calibration_fbs",
"//frc971/vision:vision_fbs",
- "//y2023/vision:calibration_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
@@ -120,8 +120,8 @@
"//aos/network:message_bridge_server_fbs",
"//aos/network:timestamp_fbs",
"//aos/network:remote_message_fbs",
+ "//frc971/vision:calibration_fbs",
"//frc971/vision:vision_fbs",
- "//y2023/vision:calibration_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
diff --git a/y2023/vision/BUILD b/y2023/vision/BUILD
index 106ee5d..2f93b16 100644
--- a/y2023/vision/BUILD
+++ b/y2023/vision/BUILD
@@ -1,13 +1,3 @@
-load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
-
-flatbuffer_cc_library(
- name = "calibration_fbs",
- srcs = ["calibration.fbs"],
- gen_reflections = 1,
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//y2023:__subpackages__"],
-)
-
cc_binary(
name = "camera_reader",
srcs = [
diff --git a/y2023/vision/calibration.fbs b/y2023/vision/calibration.fbs
deleted file mode 100644
index f5e30a6..0000000
--- a/y2023/vision/calibration.fbs
+++ /dev/null
@@ -1,55 +0,0 @@
-namespace frc971.vision.calibration;
-
-table TransformationMatrix {
- // The matrix data for a row-major 4x4 homogeneous transformation matrix.
- // This implies the bottom row is (0, 0, 0, 1).
- data:[float] (id: 0);
-}
-
-// Calibration information for a given camera on a given robot.
-table CameraCalibration {
- // The name of the camera node which this calibration data applies to.
- node_name:string (id: 0);
- // The team number of the robot which this calibration data applies to.
- team_number:int (id: 1);
-
- // Intrinsics for the camera.
- //
- // This is the standard OpenCV intrinsics matrix in row major order (3x3).
- intrinsics:[float] (id: 2);
-
- // Fixed extrinsics for the camera. This transforms from camera coordinates to
- // robot coordinates. For example: multiplying (0, 0, 0, 1) by this results in
- // the position of the camera aperture in robot coordinates.
- fixed_extrinsics:TransformationMatrix (id: 3);
-
- // Extrinsics for a camera on a turret. This will only be filled out for
- // applicable cameras. For turret-mounted cameras, fixed_extrinsics defines
- // a position for the center of rotation of the turret, and this field defines
- // a position for the camera on the turret.
- //
- // The combination of the two transformations is underdefined, so nothing can
- // distinguish between the two parts of the final extrinsics for a given
- // turret position.
- //
- // To get the final extrinsics for a camera using this transformation,
- // multiply (in order):
- // fixed_extrinsics
- // rotation around the Z axis by the turret angle
- // turret_extrinsics
- turret_extrinsics:TransformationMatrix (id: 4);
-
- // This is the standard OpenCV 5 parameter distortion coefficients
- dist_coeffs:[float] (id: 5);
-
- // Timestamp for when the calibration was taken on the realtime clock.
- calibration_timestamp:int64 (id: 6);
-}
-
-// Calibration information for all the cameras we know about.
-table CalibrationData {
- camera_calibrations:[CameraCalibration] (id: 0);
-}
-
-
-root_type CalibrationData;