commit f61e148daa8bfdb5f34c9f7ff8443abe4e2764d0
author Milind Upadhyay <milind.upadhyay@gmail.com> Fri Feb 11 20:42:55 2022 -0800
committer Milind Upadhyay <milind.upadhyay@gmail.com> Sun Feb 27 20:29:44 2022 -0800
tree e636c0e85c95e83d2faf08bfefee4f1aba02d35d
parent 20b9638eb25b2cbf077d31ef3f27c0e435052e5e

Use a solver for hub estimation

Uses ceres to estimate the rotation and distance
from the hub to the camera.
Ready for reviewing

Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: Idd4fb3334146a0587c713887626cb0abe43cdd4e

y2022/vision/BUILD

diff --git a/y2022/vision/BUILD b/y2022/vision/BUILD
index 4f1c7ff..599b4ed 100644
--- a/y2022/vision/BUILD
+++ b/y2022/vision/BUILD
@@ -153,7 +153,13 @@
     deps = [
         ":calibration_fbs",
         ":target_estimate_fbs",
+        "//aos/logging",
+        "//aos/time",
+        "//frc971/control_loops:quaternion_utils",
         "//third_party:opencv",
+        "@com_google_absl//absl/strings:str_format",
+        "@com_google_ceres_solver//:ceres",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )