Add secondary solver to target mapper
We first already solved for the relative constraints between targets.
Now fit this whole map onto where it should be in the world, by solving
for the transformation between the fixed target pose and where it
actually should be on the field.
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: Ib93bc2d5f38a1e282826461a7cd33389f8566021
diff --git a/frc971/vision/BUILD b/frc971/vision/BUILD
index 133281b..84f3be7 100644
--- a/frc971/vision/BUILD
+++ b/frc971/vision/BUILD
@@ -166,6 +166,7 @@
":target_map_fbs",
"//aos/events:simulated_event_loop",
"//frc971/control_loops:control_loop",
+ "//frc971/vision:visualize_robot",
"//frc971/vision/ceres:pose_graph_3d_lib",
"//third_party:opencv",
"@com_google_ceres_solver//:ceres",