commit 68c321dbaa27a7658e219045c881522d62e07b94
author Jim Ostrowski <yimmy13@gmail.com> Tue Nov 14 21:36:28 2023 -0800
committer Jim Ostrowski <yimmy13@gmail.com> Thu Jan 11 23:20:35 2024 -0800
tree 20839551698258e2521ce2e78008b61267875de6
parent c14e9df16199a500459a1206f6936bde18ae2227

Do multi camera extrinsic calibration from image or TargetMap logs

Based on flag, either run from full image logs (collected from each pi)
or from Logger log that contains just TargetMap (AprilTag) results

Changed some remapping to make it work with current logging

Added a python-based test to do a hard check against log data

Change-Id: I3928d5d2551d4c63832ab60a12542946cb45b38f
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>

y2023/vision/BUILD

diff --git a/y2023/vision/BUILD b/y2023/vision/BUILD
index 6a67316..7ccd53d 100644
--- a/y2023/vision/BUILD
+++ b/y2023/vision/BUILD
@@ -241,6 +241,7 @@
         "//frc971/control_loops:pose",
         "//frc971/vision:calibration_fbs",
         "//frc971/vision:charuco_lib",
+        "//frc971/vision:extrinsics_calibration",
         "//frc971/vision:target_mapper",
         "//third_party:opencv",
         "//y2023/constants:constants_fbs",
@@ -249,6 +250,23 @@
     ],
 )
 
+py_test(
+    name = "calibrate_multi_cameras_test",
+    srcs = ["calibrate_multi_cameras_test.py"],
+    args = [
+        "--calibrate_binary",
+        "$(location :calibrate_multi_cameras)",
+        "--logfile",
+        "external/calibrate_multi_cameras_data/fbs_log-268",
+    ],
+    data = [
+        ":calibrate_multi_cameras",
+        "//y2023/vision/calib_files",
+        "@calibrate_multi_cameras_data",
+    ],
+    target_compatible_with = ["@platforms//cpu:x86_64"],
+)
+
 cc_binary(
     name = "game_pieces_detector",
     srcs = [