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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 17227d17bbc17f908829eb293763cdce3f161e18 / . / y2023 / vision / BUILD
blob: 3186f44880beb3b4cdc39405e9a099bd435ddb65 [file] [log] [blame]
Yash Chainani728ae222023-02-04 19:48:12 -0800[diff] [blame]1load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
2
Austin Schuhdb2ed9d2022-12-26 14:02:26 -0800[diff] [blame]3cc_binary(
4 name = "camera_reader",
5 srcs = [
6 "camera_reader.cc",
Ravago Jonese8700072023-01-14 19:41:56 -0800[diff] [blame]7 "rkisp1-config.h",
Austin Schuhdb2ed9d2022-12-26 14:02:26 -0800[diff] [blame]8 ],
Ravago Jonese8700072023-01-14 19:41:56 -0800[diff] [blame]9 target_compatible_with = [
10 "@platforms//os:linux",
11 "//tools/platforms/hardware:raspberry_pi",
12 ],
Austin Schuhdb2ed9d2022-12-26 14:02:26 -0800[diff] [blame]13 visibility = ["//y2023:__subpackages__"],
14 deps = [
15 "//aos:init",
16 "//aos/events:shm_event_loop",
17 "//frc971/vision:media_device",
18 "//frc971/vision:v4l2_reader",
19 ],
20)
21
22cc_binary(
23 name = "viewer",
24 srcs = [
25 "viewer.cc",
26 ],
27 target_compatible_with = ["@platforms//os:linux"],
28 visibility = ["//y2023:__subpackages__"],
29 deps = [
30 "//aos:init",
Ravago Jones17e13a22023-01-28 17:12:11 -0800[diff] [blame]31 "//aos:json_to_flatbuffer",
Austin Schuhdb2ed9d2022-12-26 14:02:26 -0800[diff] [blame]32 "//aos/events:shm_event_loop",
33 "//frc971/vision:vision_fbs",
34 "//third_party:opencv",
Ravago Jones17e13a22023-01-28 17:12:11 -0800[diff] [blame]35 "@com_google_absl//absl/strings",
Austin Schuhdb2ed9d2022-12-26 14:02:26 -0800[diff] [blame]36 ],
37)
milind-u16e3a082023-01-21 13:53:43 -0800[diff] [blame]38
39cc_binary(
40 name = "target_mapping",
41 srcs = [
42 "target_mapping.cc",
43 ],
44 data = [
45 "//y2023:aos_config",
46 ],
47 target_compatible_with = ["@platforms//os:linux"],
48 visibility = ["//y2023:__subpackages__"],
49 deps = [
milind-u09fb1252023-01-28 19:21:41 -0800[diff] [blame]50 ":aprilrobotics_lib",
milind-u16e3a082023-01-21 13:53:43 -0800[diff] [blame]51 "//aos:init",
52 "//aos/events:simulated_event_loop",
53 "//aos/events/logging:log_reader",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]54 "//frc971/constants:constants_sender_lib",
milind-u16e3a082023-01-21 13:53:43 -0800[diff] [blame]55 "//frc971/control_loops:pose",
56 "//frc971/vision:calibration_fbs",
57 "//frc971/vision:charuco_lib",
58 "//frc971/vision:target_mapper",
59 "//third_party:opencv",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]60 "//y2023/constants:constants_fbs",
61 ],
62)
63
64cc_library(
65 name = "vision_util",
66 srcs = ["vision_util.cc"],
67 hdrs = ["vision_util.h"],
68 deps = [
milind-uf2a4e322023-02-01 19:33:10 -0800[diff] [blame]69 "//third_party:opencv",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]70 "//y2023/constants:constants_fbs",
71 "@com_github_google_glog//:glog",
milind-u16e3a082023-01-21 13:53:43 -0800[diff] [blame]72 ],
73)
Maxwell Hendersonfebee252023-01-28 16:53:52 -0800[diff] [blame]74
Yash Chainani728ae222023-02-04 19:48:12 -0800[diff] [blame]75flatbuffer_cc_library(
76 name = "april_debug_fbs",
77 srcs = ["april_debug.fbs"],
78 gen_reflections = 1,
79 target_compatible_with = ["@platforms//os:linux"],
80 visibility = ["//visibility:public"],
81)
82
Ravago Jonesb84f2062023-01-29 13:46:59 -0800[diff] [blame]83cc_library(
84 name = "aprilrobotics_lib",
Maxwell Hendersonfebee252023-01-28 16:53:52 -0800[diff] [blame]85 srcs = [
86 "aprilrobotics.cc",
87 "aprilrobotics.h",
88 ],
89 target_compatible_with = ["@platforms//os:linux"],
90 visibility = ["//y2023:__subpackages__"],
91 deps = [
Yash Chainani728ae222023-02-04 19:48:12 -0800[diff] [blame]92 ":april_debug_fbs",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]93 ":vision_util",
Maxwell Hendersonfebee252023-01-28 16:53:52 -0800[diff] [blame]94 "//aos:init",
95 "//aos/events:shm_event_loop",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]96 "//frc971/constants:constants_sender_lib",
Maxwell Hendersonfebee252023-01-28 16:53:52 -0800[diff] [blame]97 "//frc971/vision:calibration_fbs",
98 "//frc971/vision:charuco_lib",
99 "//frc971/vision:target_map_fbs",
100 "//frc971/vision:target_mapper",
101 "//frc971/vision:vision_fbs",
102 "//third_party:opencv",
103 "//third_party/apriltag",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]104 "//y2023/constants:constants_fbs",
Maxwell Hendersonfebee252023-01-28 16:53:52 -0800[diff] [blame]105 ],
106)
Ravago Jonesb84f2062023-01-29 13:46:59 -0800[diff] [blame]107
108cc_binary(
109 name = "aprilrobotics",
110 srcs = [
111 "aprilrobotics_main.cc",
112 ],
113 target_compatible_with = ["@platforms//os:linux"],
114 visibility = ["//y2023:__subpackages__"],
115 deps = [
116 ":aprilrobotics_lib",
117 "//aos:init",
118 "//aos/events:shm_event_loop",
119 ],
120)
James Kuszmaul77d536c2023-02-11 17:30:59 -0800[diff] [blame]121
122cc_binary(
123 name = "foxglove_image_converter",
124 srcs = ["foxglove_image_converter.cc"],
125 visibility = ["//y2023:__subpackages__"],
126 deps = [
127 "//aos:init",
128 "//aos/events:shm_event_loop",
129 "//frc971/vision:foxglove_image_converter_lib",
130 ],
131)
James Kuszmauld6199be2023-02-11 19:56:28 -0800[diff] [blame]132
133cc_binary(
134 name = "calibrate_extrinsics",
135 srcs = [
136 "calibrate_extrinsics.cc",
137 ],
138 target_compatible_with = ["@platforms//os:linux"],
139 deps = [
140 "//aos:init",
141 "//aos/events/logging:log_reader",
142 "//frc971/constants:constants_sender_lib",
143 "//frc971/control_loops:profiled_subsystem_fbs",
144 "//frc971/vision:extrinsics_calibration",
145 "//third_party:opencv",
146 "//y2023/constants:constants_fbs",
147 "//y2023/vision:vision_util",
148 ],
149)