commit 49be823a7a7ffa7e41ef7a81f89a17120f79c74d
author Jim Ostrowski <yimmy13@gmail.com> Thu Mar 23 01:00:14 2023 -0700
committer Jim Ostrowski <yimmy13@gmail.com> Thu Mar 23 23:37:00 2023 -0700
tree c0437d9e9dd8a8b08053cef1d13063f332967ca0
parent 97b2c0565ed8e6b103cc4578905f70ebb8478ad1

Adding visualization tools for target_mapping and logging playback

Helps to see where the targets are being seen, and the respective localizations
Added ability to draw robot frame on visualizer

Change-Id: I8af7a6d84874fe626d8dc9452f77702741e72fbb
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>

y2023/vision/aprilrobotics.h

diff --git a/y2023/vision/aprilrobotics.h b/y2023/vision/aprilrobotics.h
index fab2d30..7caa848 100644
--- a/y2023/vision/aprilrobotics.h
+++ b/y2023/vision/aprilrobotics.h
@@ -11,6 +11,7 @@
 #include "frc971/vision/target_map_generated.h"
 #include "frc971/vision/target_mapper.h"
 #include "frc971/vision/vision_generated.h"
+#include "frc971/vision/visualize_robot.h"
 #include "opencv2/core/eigen.hpp"
 #include "opencv2/imgproc.hpp"
 #include "third_party/apriltag/apriltag.h"
@@ -83,8 +84,8 @@
   frc971::vision::ImageCallback image_callback_;
   aos::Sender<frc971::vision::TargetMap> target_map_sender_;
   aos::Sender<foxglove::ImageAnnotations> image_annotations_sender_;
-
   size_t rejections_;
+  frc971::vision::VisualizeRobot vis_robot_;
 };
 
 }  // namespace vision