detect apriltags and call solver
Pass pose info from roborio and apriltag poses to mapping solver.
Apriltag poses get converted to robot frame.
Signed-off-by: Yash Chainani <yashchainani28@gmail.com>
Change-Id: I840c0e3c8ab0d751d2d6de172243fed66d1cbbf6
diff --git a/frc971/vision/BUILD b/frc971/vision/BUILD
index f5bb94d..097c977 100644
--- a/frc971/vision/BUILD
+++ b/frc971/vision/BUILD
@@ -101,6 +101,7 @@
name = "target_mapper",
srcs = ["target_mapper.cc"],
hdrs = ["target_mapper.h"],
+ data = ["target_map.json"],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
diff --git a/frc971/vision/target_map.json b/frc971/vision/target_map.json
new file mode 100644
index 0000000..73156f1
--- /dev/null
+++ b/frc971/vision/target_map.json
@@ -0,0 +1,22 @@
+{
+ "target_poses": [
+ {
+ "id": 584,
+ "x": 0.0,
+ "y": 0.0,
+ "yaw": 0.0
+ },
+ {
+ "id": 585,
+ "x": 0.0,
+ "y": 0.0,
+ "yaw": 0.0
+ },
+ {
+ "id": 586,
+ "x": 0.0,
+ "y": 0.0,
+ "yaw": 0.0
+ }
+ ]
+}
\ No newline at end of file