frc971 · nanoticity · Jan 3, 2026 · Jan 3, 2026 · Jan 3, 2026 · Jan 3, 2026
diff --git a/.clangd b/.clangd
@@ -0,0 +1,3 @@
+Diagnostics:
+  ClangTidy:
+    Add: [modernize-*, performance-*]
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -0,0 +1,18 @@
+name: Build
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+
+jobs:
+  build:
+    runs-on: self-hosted
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v4
+
+    - name: build
+      run: ./scripts/clang_tidy_build.sh && ./scripts/run_tests.sh
diff --git a/.gitmodules b/.gitmodules
@@ -1,3 +1,6 @@
 [submodule "third_party/json"]
 	path = third_party/json
 	url = https://github.com/nlohmann/json.git
+[submodule "third_party/abseil-cpp"]
+	path = third_party/abseil-cpp
+	url = https://github.com/abseil/abseil-cpp.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -16,21 +16,27 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++20")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
 
+option(ENABLE_CLANG_TIDY "Enable clang-tidy for static analysis" ON)
+
 include_directories(/usr/local/cuda/include)
 link_directories(/usr/local/cuda/lib64)
 
-include_directories(/usr/local/cuda-12.6/include)
-link_directories(/usr/local/cuda-12.6/compat)
-
-link_directories(/usr/lib/aarch64-linux-gnu/nvidia)
-
 find_package(wpilib REQUIRED)
 find_package(OpenCV REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(realsense2 REQUIRED)
+find_package(vpi REQUIRED)
 
 add_subdirectory(third_party/json)
 add_subdirectory(third_party/971apriltag)
+add_subdirectory(third_party/abseil-cpp)
+
+include(FetchContent)
+FetchContent_Declare(
+  googletest
+  URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
+)
+FetchContent_MakeAvailable(googletest)
 
 add_compile_options(-Wno-psabi)
 add_subdirectory(src)
diff --git a/calibration_board.png b/calibration_board.png
diff --git a/constants/dont_worry_about_it.jpg b/constants/dont_worry_about_it.jpg
diff --git a/constants/usb_camera0_extrinsics.json → ...ddler/fiddler_usb_camera0_extrinsics.json b/constants/usb_camera0_extrinsics.json → ...ddler/fiddler_usb_camera0_extrinsics.json
diff --git a/constants/usb_camera0_intrinsics.json → ...ddler/fiddler_usb_camera0_intrinsics.json b/constants/usb_camera0_intrinsics.json → ...ddler/fiddler_usb_camera0_intrinsics.json
diff --git a/constants/usb_camera1_extrinsics.json → ...ddler/fiddler_usb_camera1_extrinsics.json b/constants/usb_camera1_extrinsics.json → ...ddler/fiddler_usb_camera1_extrinsics.json
diff --git a/constants/usb_camera1_intrinsics.json → ...ddler/fiddler_usb_camera1_intrinsics.json b/constants/usb_camera1_intrinsics.json → ...ddler/fiddler_usb_camera1_intrinsics.json
diff --git a/constants/imx296_camera1_extrinsics.json b/constants/imx296_camera1_extrinsics.json
diff --git a/constants/imx296_camera1_intrinsics.json b/constants/imx296_camera1_intrinsics.json
diff --git a/constants/imx296_camera2_intrinsics.json b/constants/imx296_camera2_intrinsics.json
diff --git a/constants/main_bot/front_extrinsics.json b/constants/main_bot/front_extrinsics.json
@@ -0,0 +1,8 @@
+{
+  "translation_x": 0.2974575,
+  "translation_y": -0.0609595,
+  "translation_z": 0.325284,
+  "rotation_x": 0.0,
+  "rotation_y": 0.0,
+  "rotation_z": 0.0
+}
diff --git a/constants/main_bot/front_intrinsics.json b/constants/main_bot/front_intrinsics.json
@@ -0,0 +1,11 @@
+{
+    "cx": 932.1681813421546,
+    "cy": 451.4312769210836,
+    "fx": 596.9032778242522,
+    "fy": 596.0093667435602,
+    "k1": 0.012256864304443962,
+    "k2": -0.030684524680962985,
+    "k3": 0.0052060693388187125,
+    "p1": 0.0005970467587180883,
+    "p2": -0.00048007187075744856
+}
diff --git a/constants/main_bot/left_extrinsics.json b/constants/main_bot/left_extrinsics.json
@@ -0,0 +1,8 @@
+{
+  "translation_x": 0.276,
+  "translation_y": 0.3729405,
+  "translation_z": 0.333312,
+  "rotation_x": 0.0,
+  "rotation_y": 0.0,
+  "rotation_z": 1.57079632679
+}
diff --git a/constants/main_bot/left_intrinsics.json b/constants/main_bot/left_intrinsics.json
@@ -0,0 +1,12 @@
+{
+    "cx": 654.1347738292703,
+    "cy": 344.94298934911706,
+    "fx": 393.99373922524524,
+    "fy": 393.9995160742635,
+    "k1": 0.003587214416772569,
+    "k2": -0.02591737917812022,
+    "k3": 0.004322781817780432,
+    "p1": 0.0005573558103478626,
+    "p2": 0.00015518086763949464
+}
+
diff --git a/constants/main_bot/right_extrinsics.json b/constants/main_bot/right_extrinsics.json
@@ -0,0 +1,8 @@
+{
+  "translation_x": 0.276,
+  "translation_y": -0.3729405,
+  "translation_z": 0.333312,
+  "rotation_x": 0.0,
+  "rotation_y": 0.0,
+  "rotation_z": -1.57079632679
+}
diff --git a/constants/main_bot/right_intrinsics.json b/constants/main_bot/right_intrinsics.json
@@ -0,0 +1,12 @@
+{
+    "cx": 656.9761693758428,
+    "cy": 364.3738326236059,
+    "fx": 571.9375122699471,
+    "fy": 571.9226840643123,
+    "k1": -0.00894144282702949,
+    "k2": -0.014004357096758329,
+    "k3": 0.002861026434514461,
+    "p1": -5.536589513658126e-05,
+    "p2": -0.0010707320046471017
+}
+
diff --git a/constants/misc/dev_orin_extrinsics.json b/constants/misc/dev_orin_extrinsics.json
@@ -0,0 +1,8 @@
+{
+  "translation_x": 0.0,
+  "translation_y": 0.0,
+  "translation_z": 0.0,
+  "rotation_x": 0.0,
+  "rotation_y": 0.0,
+  "rotation_z": 0.0
+}
diff --git a/constants/misc/dev_orin_intrinsics.json b/constants/misc/dev_orin_intrinsics.json
@@ -0,0 +1,11 @@
+{
+    "cx": 669.6571418509437,
+    "cy": 386.5080452595225,
+    "fx": 898.443795092944,
+    "fy": 898.4888081021497,
+    "k1": 0.04530849306173127,
+    "k2": -0.08457792104236955,
+    "k3": 0.028964050967856383,
+    "p1": 0.0015889107801309768,
+    "p2": 7.981564797345172e-05
+}
diff --git a/constants/misc/dummy_camera_extrinsics.json b/constants/misc/dummy_camera_extrinsics.json
@@ -0,0 +1,8 @@
+{
+  "translation_x": 0.0,
+  "translation_y": 0.0,
+  "translation_z": 0.0,
+  "rotation_x": 0.0,
+  "rotation_y": 0.0,
+  "rotation_z": 0.0
+}
diff --git a/constants/misc/dummy_camera_intrinsics.json b/constants/misc/dummy_camera_intrinsics.json
@@ -0,0 +1,12 @@
+{
+    "cx": 10.0,
+    "cy": 10.0,
+    "fx": 1.0,
+    "fy": 1.0,
+    "k1": 0.0,
+    "k2": 0.0,
+    "k3": 0.0,
+    "p1": 0.0,
+    "p2": 0.0
+}
+