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>
diff --git a/y2020/vision/BUILD b/y2020/vision/BUILD
index 922e26f..bb85601 100644
--- a/y2020/vision/BUILD
+++ b/y2020/vision/BUILD
@@ -194,11 +194,13 @@
"//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",
],
)