commit 9bf206a43a62c55daad175f5475a99984b0f79fa
author Jim Ostrowski <yimmy13@gmail.com> Fri Jan 26 23:31:58 2024 -0800
committer Jim Ostrowski <yimmy13@gmail.com> Sat Feb 03 22:05:38 2024 -0800
tree e9fc80baf9fa3dfc2b46675e0d2e83766f44db65
parent e809c8005e8a6f059b8f08090d7b10def97e07b4

Next batch of changes to support the vision code on the orin

Set up separate camera1 and camera2 data streams.
This includes both argus_camera and april tag detection

Enable channel selection for foxglove image converter

Build and deploy viewer app

Compile multi-camera calibration

Change-Id: I976f7b7594903d632c7481b06784d03c2c05190e
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>

y2024/vision/BUILD

diff --git a/y2024/vision/BUILD b/y2024/vision/BUILD
index 795d9fa..4b515cf 100644
--- a/y2024/vision/BUILD
+++ b/y2024/vision/BUILD
@@ -58,3 +58,60 @@
         "@com_github_nvidia_cuco//:cuco",
     ],
 )
+
+cc_binary(
+    name = "viewer",
+    srcs = [
+        "viewer.cc",
+        "vision_util.cc",
+        "vision_util.h",
+    ],
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = [
+        "//y2024:__subpackages__",
+    ],
+    deps = [
+        "//aos:init",
+        "//aos:json_to_flatbuffer",
+        "//aos/events:shm_event_loop",
+        "//frc971/constants:constants_sender_lib",
+        "//frc971/vision:vision_fbs",
+        "//frc971/vision:vision_util_lib",
+        "//third_party:opencv",
+        "//y2024/constants:constants_fbs",
+        "@com_google_absl//absl/strings",
+    ],
+)
+
+cc_binary(
+    name = "calibrate_multi_cameras",
+    srcs = [
+        "calibrate_multi_cameras.cc",
+        "vision_util.cc",
+        "vision_util.h",
+    ],
+    data = [
+        "//y2024:aos_config",
+        "//y2024/constants:constants.json",
+        "//y2024/vision:maps",
+    ],
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//y2024:__subpackages__"],
+    deps = [
+        "//aos:init",
+        "//aos/events:simulated_event_loop",
+        "//aos/events/logging:log_reader",
+        "//aos/util:mcap_logger",
+        "//frc971/constants:constants_sender_lib",
+        "//frc971/control_loops:pose",
+        "//frc971/vision:calibration_fbs",
+        "//frc971/vision:charuco_lib",
+        "//frc971/vision:extrinsics_calibration",
+        "//frc971/vision:target_mapper",
+        "//frc971/vision:vision_util_lib",
+        "//third_party:opencv",
+        "//y2024/constants:constants_fbs",
+        "//y2024/constants:simulated_constants_sender",
+        "@org_tuxfamily_eigen//:eigen",
+    ],
+)