Create y2024 localizer
This is primarily a copy of the y2023 localizer, with updates to
better characterize the noise of the april tag readings (by separating
out heading/distance/skew measurements).
It also listens to the drivetrain Position message for encoder readings
rather than relying on the IMU board to send them.
This adds a few things:
* The main localizer libraries and processes themselves.
* Updates to the AOS configs to pull in the appropriate localization
channels.
* Creates the typescript plots for localization debugging.
* Creates some dummy camera extrinsics for use in the tests.
Change-Id: I58d5c1da0d3dc2dad98bd2a9fc10965db51c4f84
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/analysis/plot_index.ts b/frc971/analysis/plot_index.ts
index 1ee85d1..455c7e9 100644
--- a/frc971/analysis/plot_index.ts
+++ b/frc971/analysis/plot_index.ts
@@ -56,10 +56,14 @@
'../../y2022/localizer/localizer_plotter'
import {plotLocalizer as plot2023Localizer} from
'../../y2023/localizer/localizer_plotter'
+import {plotLocalizer as plot2024Localizer} from
+ '../../y2024/localizer/localizer_plotter'
import {plotVision as plot2022Vision} from
'../../y2022/vision/vision_plotter'
import {plotVision as plot2023Corrections} from
'../../y2023/localizer/corrections_plotter'
+import {plotVision as plot2024Corrections} from
+ '../../y2024/localizer/corrections_plotter'
import {plotDemo} from '../../aos/network/www/demo_plot';
const rootDiv = document.createElement('div');
@@ -118,6 +122,8 @@
['Spline Debug', new PlotState(plotDiv, plotSpline)],
['Down Estimator', new PlotState(plotDiv, plotDownEstimator)],
['Robot State', new PlotState(plotDiv, plotRobotState)],
+ ['2024 Vision', new PlotState(plotDiv, plot2024Corrections)],
+ ['2024 Localizer', new PlotState(plotDiv, plot2024Localizer)],
['2023 Vision', new PlotState(plotDiv, plot2023Corrections)],
['2023 Localizer', new PlotState(plotDiv, plot2023Localizer)],
['2023 Superstructure', new PlotState(plotDiv, plot2023Superstructure)],