Solver with turret fixes and visualization
Converges generally well, but still has sensitivity to some parameters
In addition to turret and visualization, significant changes include:
-- Added quaternion parameterization for pivot_to_imu
-- Filtering out of bad gyro readings
-- Scaling of rotation error (residual)
Visualization tool is really just a set of helper routines to plot axes
in 3D space in a projected 2D virtual image
Change-Id: I03a6939b6b12df4b8116c30c617a1595781fe635
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/y2022/vision/BUILD b/y2022/vision/BUILD
index 4fda1ad..9726542 100644
--- a/y2022/vision/BUILD
+++ b/y2022/vision/BUILD
@@ -328,9 +328,9 @@
)
cc_binary(
- name = "extrinsics_calibration",
+ name = "calibrate_extrinsics",
srcs = [
- "extrinsics_calibration.cc",
+ "calibrate_extrinsics.cc",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2022:__subpackages__"],
@@ -339,6 +339,7 @@
"//aos/events/logging:log_reader",
"//frc971/control_loops:profiled_subsystem_fbs",
"//frc971/vision:extrinsics_calibration",
+ "//third_party:opencv",
"//y2022/control_loops/superstructure:superstructure_status_fbs",
],
)