Add y2023 camera definition
For now, just adding box of pis calibration from 2022.
We'll add the robots later.
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I71a80ef4a25e6181a2263e25670e7f7297a233ae
diff --git a/y2023/vision/BUILD b/y2023/vision/BUILD
index 2f93b16..e51ed0b 100644
--- a/y2023/vision/BUILD
+++ b/y2023/vision/BUILD
@@ -1,3 +1,46 @@
+py_binary(
+ name = "create_calib_file",
+ srcs = [
+ "create_calib_file.py",
+ ],
+ args = [
+ "calibration_data.h",
+ ],
+ data = glob(["calib_files/*.json"]),
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/vision:create_calib_file",
+ ],
+)
+
+genrule(
+ name = "run_calibration_data",
+ outs = [
+ "calibration_data.h",
+ ],
+ cmd = " ".join([
+ "$(location :create_calib_file)",
+ "$(location calibration_data.h)",
+ ]),
+ target_compatible_with = ["@platforms//os:linux"],
+ tools = [
+ ":create_calib_file",
+ ],
+)
+
+cc_library(
+ name = "calibration_data",
+ hdrs = [
+ "calibration_data.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "@com_google_absl//absl/types:span",
+ ],
+)
+
cc_binary(
name = "camera_reader",
srcs = [
diff --git a/y2023/vision/calib_files/calibration_pi-7971-1_2021-06-12_15-35-39.636386620.json b/y2023/vision/calib_files/calibration_pi-7971-1_2021-06-12_15-35-39.636386620.json
new file mode 100755
index 0000000..a8d8816
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-1_2021-06-12_15-35-39.636386620.json
@@ -0,0 +1,41 @@
+{
+ "node_name": "pi1",
+ "team_number": 7971,
+ "intrinsics": [
+ 388.369812,
+ 0.0,
+ 292.325653,
+ 0.0,
+ 388.513733,
+ 224.371063,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ 0.126935,
+ -0.218447,
+ -0.000152,
+ 0.001158,
+ 0.06266
+ ],
+ "fixed_extrinsics": [
+ -1.0,
+ -1.57586107256918e-16,
+ 5.0158596452676243e-17,
+ -0.15239999999999998,
+ 1.3147519464173305e-16,
+ -0.5735764363510459,
+ 0.8191520442889919,
+ -0.2032,
+ -1.0031719290535249e-16,
+ 0.8191520442889919,
+ 0.5735764363510459,
+ 0.0127,
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "calibration_timestamp": 1623537339636386620
+}
diff --git a/y2023/vision/calib_files/calibration_pi-7971-2_2021-06-12_15-30-20.325393444.json b/y2023/vision/calib_files/calibration_pi-7971-2_2021-06-12_15-30-20.325393444.json
new file mode 100755
index 0000000..d994a07
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-2_2021-06-12_15-30-20.325393444.json
@@ -0,0 +1,41 @@
+{
+ "node_name": "pi2",
+ "team_number": 7971,
+ "intrinsics": [
+ 388.7565,
+ 0.0,
+ 285.024506,
+ 0.0,
+ 388.915039,
+ 222.227539,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ 0.128415,
+ -0.212528,
+ 0.001165,
+ 0.000579,
+ 0.054853
+ ],
+ "fixed_extrinsics": [
+ 7.02428546843654e-17,
+ -0.5735764363510459,
+ 0.8191520442889919,
+ 0.09525,
+ 1.0,
+ 1.2246467991473532e-16,
+ 0.0,
+ 0.1905,
+ -1.0031719290535249e-16,
+ 0.8191520442889919,
+ 0.5735764363510459,
+ 0.0127,
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "calibration_timestamp": 1623537020325393444
+}
diff --git a/y2023/vision/calib_files/calibration_pi-7971-3_2021-06-12_15-33-31.977365877.json b/y2023/vision/calib_files/calibration_pi-7971-3_2021-06-12_15-33-31.977365877.json
new file mode 100755
index 0000000..241957e
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-3_2021-06-12_15-33-31.977365877.json
@@ -0,0 +1,41 @@
+{
+ "node_name": "pi3",
+ "team_number": 7971,
+ "intrinsics": [
+ 389.35611,
+ 0.0,
+ 339.345673,
+ 0.0,
+ 389.516235,
+ 240.247787,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ 0.122511,
+ -0.209383,
+ -0.001212,
+ 0.000041,
+ 0.05674
+ ],
+ "fixed_extrinsics": [
+ 7.02428546843654e-17,
+ -0.5735764363510459,
+ 0.8191520442889919,
+ 0.09525,
+ 1.0,
+ 1.2246467991473532e-16,
+ 0.0,
+ -0.10794999999999999,
+ -1.0031719290535249e-16,
+ 0.8191520442889919,
+ 0.5735764363510459,
+ 0.0127,
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "calibration_timestamp": 1623537211977365877
+}
diff --git a/y2023/vision/calib_files/calibration_pi-7971-4_2021-06-12_15-37-25.706564865.json b/y2023/vision/calib_files/calibration_pi-7971-4_2021-06-12_15-37-25.706564865.json
new file mode 100755
index 0000000..6e04089
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-4_2021-06-12_15-37-25.706564865.json
@@ -0,0 +1,41 @@
+{
+ "node_name": "pi4",
+ "team_number": 7971,
+ "intrinsics": [
+ 390.301514,
+ 0.0,
+ 356.104095,
+ 0.0,
+ 389.884491,
+ 231.157303,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ 0.128595,
+ -0.229324,
+ -0.001145,
+ 0.001602,
+ 0.079774
+ ],
+ "fixed_extrinsics": [
+ 7.02428546843654e-17,
+ -0.5735764363510459,
+ 0.8191520442889919,
+ -0.15239999999999998,
+ 1.0,
+ 1.2246467991473532e-16,
+ 0.0,
+ -0.17779999999999999,
+ -1.0031719290535249e-16,
+ 0.8191520442889919,
+ 0.5735764363510459,
+ 0.0127,
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "calibration_timestamp": 1623537445706564865
+}
diff --git a/y2023/vision/create_calib_file.py b/y2023/vision/create_calib_file.py
new file mode 100644
index 0000000..b5e620d
--- /dev/null
+++ b/y2023/vision/create_calib_file.py
@@ -0,0 +1,4 @@
+import frc971.vision.create_calib_file
+
+if __name__ == "__main__":
+ frc971.vision.create_calib_file.generate_header("2023")