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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / c3cf975f9cd28f5fdfd705b177f23e64d2a2dd82 / . / y2023 / vision / BUILD
blob: 839f11e8b15fdbbe29be3660b15a32b235032390 [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",
milind-uc3cf9752023-02-20 23:07:30 -0800[diff] [blame^]33 "//frc971/constants:constants_sender_lib",
Austin Schuhdb2ed9d2022-12-26 14:02:26 -0800[diff] [blame]34 "//frc971/vision:vision_fbs",
35 "//third_party:opencv",
milind-uc3cf9752023-02-20 23:07:30 -0800[diff] [blame^]36 "//y2023/vision:april_debug_fbs",
37 "//y2023/vision:vision_util",
Ravago Jones17e13a22023-01-28 17:12:11 -0800[diff] [blame]38 "@com_google_absl//absl/strings",
Austin Schuhdb2ed9d2022-12-26 14:02:26 -0800[diff] [blame]39 ],
40)
milind-u16e3a082023-01-21 13:53:43 -0800[diff] [blame]41
42cc_binary(
43 name = "target_mapping",
44 srcs = [
45 "target_mapping.cc",
46 ],
47 data = [
48 "//y2023:aos_config",
49 ],
50 target_compatible_with = ["@platforms//os:linux"],
51 visibility = ["//y2023:__subpackages__"],
52 deps = [
milind-u09fb1252023-01-28 19:21:41 -0800[diff] [blame]53 ":aprilrobotics_lib",
milind-u16e3a082023-01-21 13:53:43 -0800[diff] [blame]54 "//aos:init",
55 "//aos/events:simulated_event_loop",
56 "//aos/events/logging:log_reader",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]57 "//frc971/constants:constants_sender_lib",
milind-u16e3a082023-01-21 13:53:43 -0800[diff] [blame]58 "//frc971/control_loops:pose",
59 "//frc971/vision:calibration_fbs",
60 "//frc971/vision:charuco_lib",
61 "//frc971/vision:target_mapper",
62 "//third_party:opencv",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]63 "//y2023/constants:constants_fbs",
64 ],
65)
66
67cc_library(
68 name = "vision_util",
69 srcs = ["vision_util.cc"],
70 hdrs = ["vision_util.h"],
71 deps = [
milind-uf2a4e322023-02-01 19:33:10 -0800[diff] [blame]72 "//third_party:opencv",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]73 "//y2023/constants:constants_fbs",
74 "@com_github_google_glog//:glog",
milind-u16e3a082023-01-21 13:53:43 -0800[diff] [blame]75 ],
76)
Maxwell Hendersonfebee252023-01-28 16:53:52 -0800[diff] [blame]77
Yash Chainani728ae222023-02-04 19:48:12 -0800[diff] [blame]78flatbuffer_cc_library(
79 name = "april_debug_fbs",
80 srcs = ["april_debug.fbs"],
81 gen_reflections = 1,
82 target_compatible_with = ["@platforms//os:linux"],
83 visibility = ["//visibility:public"],
84)
85
Ravago Jonesb84f2062023-01-29 13:46:59 -0800[diff] [blame]86cc_library(
87 name = "aprilrobotics_lib",
Maxwell Hendersonfebee252023-01-28 16:53:52 -0800[diff] [blame]88 srcs = [
89 "aprilrobotics.cc",
90 "aprilrobotics.h",
91 ],
92 target_compatible_with = ["@platforms//os:linux"],
93 visibility = ["//y2023:__subpackages__"],
94 deps = [
Yash Chainani728ae222023-02-04 19:48:12 -0800[diff] [blame]95 ":april_debug_fbs",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]96 ":vision_util",
Maxwell Hendersonfebee252023-01-28 16:53:52 -0800[diff] [blame]97 "//aos:init",
98 "//aos/events:shm_event_loop",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]99 "//frc971/constants:constants_sender_lib",
Maxwell Hendersonfebee252023-01-28 16:53:52 -0800[diff] [blame]100 "//frc971/vision:calibration_fbs",
101 "//frc971/vision:charuco_lib",
102 "//frc971/vision:target_map_fbs",
103 "//frc971/vision:target_mapper",
104 "//frc971/vision:vision_fbs",
105 "//third_party:opencv",
106 "//third_party/apriltag",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]107 "//y2023/constants:constants_fbs",
Maxwell Hendersonfebee252023-01-28 16:53:52 -0800[diff] [blame]108 ],
109)
Ravago Jonesb84f2062023-01-29 13:46:59 -0800[diff] [blame]110
111cc_binary(
112 name = "aprilrobotics",
113 srcs = [
114 "aprilrobotics_main.cc",
115 ],
116 target_compatible_with = ["@platforms//os:linux"],
117 visibility = ["//y2023:__subpackages__"],
118 deps = [
119 ":aprilrobotics_lib",
120 "//aos:init",
121 "//aos/events:shm_event_loop",
122 ],
123)
James Kuszmaul77d536c2023-02-11 17:30:59 -0800[diff] [blame]124
125cc_binary(
126 name = "foxglove_image_converter",
127 srcs = ["foxglove_image_converter.cc"],
128 visibility = ["//y2023:__subpackages__"],
129 deps = [
130 "//aos:init",
131 "//aos/events:shm_event_loop",
132 "//frc971/vision:foxglove_image_converter_lib",
133 ],
134)
James Kuszmauld6199be2023-02-11 19:56:28 -0800[diff] [blame]135
136cc_binary(
137 name = "calibrate_extrinsics",
138 srcs = [
139 "calibrate_extrinsics.cc",
140 ],
141 target_compatible_with = ["@platforms//os:linux"],
142 deps = [
143 "//aos:init",
144 "//aos/events/logging:log_reader",
145 "//frc971/constants:constants_sender_lib",
146 "//frc971/control_loops:profiled_subsystem_fbs",
147 "//frc971/vision:extrinsics_calibration",
148 "//third_party:opencv",
149 "//y2023/constants:constants_fbs",
150 "//y2023/vision:vision_util",
151 ],
152)