Pull common extrinsics calibration code out into //frc971/vision
This sets us up to have a generic solver interface, and year specific
data munging.
Change-Id: I5cba597aa263d5061b7c71cd617706460ddb5f93
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2020/vision/BUILD b/y2020/vision/BUILD
index ae4e3f2..de85213 100644
--- a/y2020/vision/BUILD
+++ b/y2020/vision/BUILD
@@ -69,34 +69,6 @@
],
)
-cc_library(
- name = "charuco_lib",
- srcs = [
- "charuco_lib.cc",
- ],
- hdrs = [
- "charuco_lib.h",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//y2020:__subpackages__"],
- deps = [
- "//aos:flatbuffers",
- "//aos/events:event_loop",
- "//aos/network:message_bridge_server_fbs",
- "//aos/network:team_number",
- "//frc971/control_loops:quaternion_utils",
- "//frc971/vision:vision_fbs",
- "//third_party:opencv",
- "//y2020/vision/sift:sift_fbs",
- "//y2020/vision/sift:sift_training_fbs",
- "//y2020/vision/tools/python_code:sift_training_data",
- "@com_github_google_glog//:glog",
- "@com_google_absl//absl/strings:str_format",
- "@com_google_absl//absl/types:span",
- "@org_tuxfamily_eigen//:eigen",
- ],
-)
-
cc_binary(
name = "calibration",
srcs = [
@@ -111,10 +83,10 @@
"//y2022:__subpackages__",
],
deps = [
- ":charuco_lib",
"//aos:init",
"//aos/events:shm_event_loop",
"//frc971/control_loops/drivetrain:improved_down_estimator",
+ "//frc971/vision:charuco_lib",
"//frc971/vision:vision_fbs",
"//frc971/wpilib:imu_batch_fbs",
"//frc971/wpilib:imu_fbs",
@@ -149,27 +121,13 @@
cc_binary(
name = "extrinsics_calibration",
srcs = [
- "calibration_accumulator.cc",
- "calibration_accumulator.h",
"extrinsics_calibration.cc",
],
- data = [
- "//y2020:aos_config",
- ],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"],
deps = [
- ":charuco_lib",
"//aos:init",
- "//aos/events:shm_event_loop",
"//aos/events/logging:log_reader",
- "//frc971/analysis:in_process_plotter",
- "//frc971/control_loops/drivetrain:improved_down_estimator",
- "//frc971/wpilib:imu_batch_fbs",
- "//frc971/wpilib:imu_fbs",
- "//third_party:opencv",
- "@com_google_absl//absl/strings:str_format",
- "@com_google_ceres_solver//:ceres",
- "@org_tuxfamily_eigen//:eigen",
+ "//frc971/vision:extrinsics_calibration",
],
)