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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 878a55a1cb696a9be4fd5e7c668e288bac3ff1ee / . / y2023 / vision / BUILD
blob: a0b0ce53b98d400bb646ea864931d5f6598212b4 [file] [log] [blame]
Austin Schuhdb2ed9d2022-12-26 14:02:26 -0800[diff] [blame]1cc_binary(
2 name = "camera_reader",
3 srcs = [
4 "camera_reader.cc",
Ravago Jonese8700072023-01-14 19:41:56 -0800[diff] [blame]5 "rkisp1-config.h",
Austin Schuhdb2ed9d2022-12-26 14:02:26 -0800[diff] [blame]6 ],
Ravago Jonese8700072023-01-14 19:41:56 -0800[diff] [blame]7 target_compatible_with = [
8 "@platforms//os:linux",
9 "//tools/platforms/hardware:raspberry_pi",
10 ],
Austin Schuhdb2ed9d2022-12-26 14:02:26 -0800[diff] [blame]11 visibility = ["//y2023:__subpackages__"],
12 deps = [
13 "//aos:init",
14 "//aos/events:shm_event_loop",
15 "//frc971/vision:media_device",
16 "//frc971/vision:v4l2_reader",
17 ],
18)
19
20cc_binary(
21 name = "viewer",
22 srcs = [
23 "viewer.cc",
24 ],
25 target_compatible_with = ["@platforms//os:linux"],
26 visibility = ["//y2023:__subpackages__"],
27 deps = [
28 "//aos:init",
Ravago Jones17e13a22023-01-28 17:12:11 -0800[diff] [blame]29 "//aos:json_to_flatbuffer",
Austin Schuhdb2ed9d2022-12-26 14:02:26 -0800[diff] [blame]30 "//aos/events:shm_event_loop",
milind-uc3cf9752023-02-20 23:07:30 -0800[diff] [blame]31 "//frc971/constants:constants_sender_lib",
Austin Schuhdb2ed9d2022-12-26 14:02:26 -0800[diff] [blame]32 "//frc971/vision:vision_fbs",
33 "//third_party:opencv",
milind-uc3cf9752023-02-20 23:07:30 -0800[diff] [blame]34 "//y2023/vision:vision_util",
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
Ravago Jonesb84f2062023-01-29 13:46:59 -0800[diff] [blame]75cc_library(
76 name = "aprilrobotics_lib",
Maxwell Hendersonfebee252023-01-28 16:53:52 -0800[diff] [blame]77 srcs = [
78 "aprilrobotics.cc",
79 "aprilrobotics.h",
80 ],
81 target_compatible_with = ["@platforms//os:linux"],
82 visibility = ["//y2023:__subpackages__"],
83 deps = [
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]84 ":vision_util",
Maxwell Hendersonfebee252023-01-28 16:53:52 -0800[diff] [blame]85 "//aos:init",
86 "//aos/events:shm_event_loop",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]87 "//frc971/constants:constants_sender_lib",
Maxwell Hendersonfebee252023-01-28 16:53:52 -0800[diff] [blame]88 "//frc971/vision:calibration_fbs",
89 "//frc971/vision:charuco_lib",
90 "//frc971/vision:target_map_fbs",
91 "//frc971/vision:target_mapper",
92 "//frc971/vision:vision_fbs",
93 "//third_party:opencv",
94 "//third_party/apriltag",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]95 "//y2023/constants:constants_fbs",
Maxwell Hendersonfebee252023-01-28 16:53:52 -0800[diff] [blame]96 ],
97)
Ravago Jonesb84f2062023-01-29 13:46:59 -0800[diff] [blame]98
99cc_binary(
100 name = "aprilrobotics",
101 srcs = [
102 "aprilrobotics_main.cc",
103 ],
104 target_compatible_with = ["@platforms//os:linux"],
105 visibility = ["//y2023:__subpackages__"],
106 deps = [
107 ":aprilrobotics_lib",
108 "//aos:init",
109 "//aos/events:shm_event_loop",
110 ],
111)
James Kuszmaul77d536c2023-02-11 17:30:59 -0800[diff] [blame]112
milind-u8e98cb92023-02-05 16:07:10 -0800[diff] [blame]113filegroup(
114 name = "image_streamer_start",
115 srcs = ["image_streamer_start.sh"],
116 visibility = ["//visibility:public"],
117)
118
James Kuszmaul77d536c2023-02-11 17:30:59 -0800[diff] [blame]119cc_binary(
120 name = "foxglove_image_converter",
121 srcs = ["foxglove_image_converter.cc"],
122 visibility = ["//y2023:__subpackages__"],
123 deps = [
124 "//aos:init",
125 "//aos/events:shm_event_loop",
126 "//frc971/vision:foxglove_image_converter_lib",
127 ],
128)
James Kuszmauld6199be2023-02-11 19:56:28 -0800[diff] [blame]129
130cc_binary(
131 name = "calibrate_extrinsics",
132 srcs = [
133 "calibrate_extrinsics.cc",
134 ],
135 target_compatible_with = ["@platforms//os:linux"],
136 deps = [
137 "//aos:init",
138 "//aos/events/logging:log_reader",
139 "//frc971/constants:constants_sender_lib",
140 "//frc971/control_loops:profiled_subsystem_fbs",
141 "//frc971/vision:extrinsics_calibration",
142 "//third_party:opencv",
143 "//y2023/constants:constants_fbs",
144 "//y2023/vision:vision_util",
145 ],
146)