Merge "Update extrinsics calib to properly traverse nodes"
diff --git a/y2024/vision/calibrate_multi_cameras.cc b/y2024/vision/calibrate_multi_cameras.cc
index f743e00..2c2ddd3 100644
--- a/y2024/vision/calibrate_multi_cameras.cc
+++ b/y2024/vision/calibrate_multi_cameras.cc
@@ -256,9 +256,6 @@
new_pair = std::pair(last_observation, new_observation);
} else if (last_observation.pi_name > new_observation.pi_name) {
new_pair = std::pair(new_observation, last_observation);
- } else {
- LOG(WARNING) << "Got 2 observations in a row from same pi. Probably "
- "not too much of an issue???";
}
detection_list.push_back(new_pair);
@@ -434,8 +431,8 @@
VLOG(1) << "Using target type " << FLAGS_target_type;
std::vector<std::string> node_list;
- node_list.push_back("orin1");
node_list.push_back("imu");
+ node_list.push_back("orin1");
std::vector<std::string> camera_list;
std::vector<const calibration::CameraCalibration *> calibration_list;
@@ -449,13 +446,14 @@
const aos::Node *pi =
aos::configuration::GetNode(reader.configuration(), node.c_str());
- detection_event_loops.emplace_back(
- reader.event_loop_factory()->MakeEventLoop(
- (node + "_detection").c_str(), pi));
-
for (const std::string camera : {"/camera0", "/camera1"}) {
std::string camera_name = "/" + node + camera;
camera_list.push_back(camera_name);
+
+ detection_event_loops.emplace_back(
+ reader.event_loop_factory()->MakeEventLoop(
+ (camera_name + "_detection").c_str(), pi));
+
frc971::constants::ConstantsFetcher<y2024::Constants> constants_fetcher(
detection_event_loops.back().get());