commit e53bf55e51ff14a64b18fa709f13a1bc963ea78c
author milind-u <milind.upadhyay@gmail.com> Sat Dec 11 14:42:00 2021 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Dec 26 14:14:18 2021 -0800
tree 7439a110476418b62c4c0ab28869031a03c27fc5
parent 921b9a85a8dc093800cb3992fe311c2ddf5d06ae

Use ceres solver for extrinsics calibration

Using auto differentiation to solve for camera mount angle and imu bias.

Change-Id: I434f5bc7ac97acb5d18f09ec9174d79e6f5bbb06
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

frc971/control_loops/BUILD

diff --git a/frc971/control_loops/BUILD b/frc971/control_loops/BUILD
index 644346a..c7a5dd7 100644
--- a/frc971/control_loops/BUILD
+++ b/frc971/control_loops/BUILD
@@ -99,7 +99,9 @@
     ],
     target_compatible_with = ["@platforms//os:linux"],
     deps = [
+        ":jacobian",
         ":quaternion_utils",
+        ":runge_kutta",
         "//aos/testing:googletest",
         "//aos/testing:random_seed",
         "@com_github_google_glog//:glog",