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/y2022/vision/BUILD b/y2022/vision/BUILD
index 9726542..58dbba8 100644
--- a/y2022/vision/BUILD
+++ b/y2022/vision/BUILD
@@ -328,6 +328,29 @@
)
cc_binary(
+ name = "target_mapping",
+ srcs = [
+ "target_mapping.cc",
+ ],
+ data = [
+ "//y2022:aos_config",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//y2022:__subpackages__"],
+ deps = [
+ ":camera_reader_lib",
+ "//aos:init",
+ "//aos/events:simulated_event_loop",
+ "//aos/events/logging:log_reader",
+ "//frc971/control_loops:pose",
+ "//frc971/vision:charuco_lib",
+ "//frc971/vision:target_mapper",
+ "//third_party:opencv",
+ "//y2022/control_loops/superstructure:superstructure_status_fbs",
+ ],
+)
+
+cc_binary(
name = "calibrate_extrinsics",
srcs = [
"calibrate_extrinsics.cc",