Rename all /orin2 camera channels to /imu
This makes things more internall consistent.
Change-Id: Ia1dfcf6bde96874dae518a72b5c671cae8eb7fe5
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-08_2024-02-24_16-21-54.420797344.json b/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-08_2024-02-24_16-21-54.420797344.json
index b5a848b..14d9bda 100755
--- a/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-08_2024-02-24_16-21-54.420797344.json
+++ b/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-08_2024-02-24_16-21-54.420797344.json
@@ -1,5 +1,5 @@
{
- "node_name": "orin1",
+ "node_name": "imu",
"team_number": 971,
"intrinsics": [
645.963562,
diff --git a/y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-05_1970-01-05_17-40-27.793683328.json b/y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-05_1970-01-05_17-40-27.793683328.json
index 9ef782e..2ac9471 100755
--- a/y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-05_1970-01-05_17-40-27.793683328.json
+++ b/y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-05_1970-01-05_17-40-27.793683328.json
@@ -1,5 +1,5 @@
{
- "node_name": "orin1",
+ "node_name": "imu",
"team_number": 971,
"intrinsics": [
648.360168,
diff --git a/y2024/constants/test_data/calibration_cam-3.json b/y2024/constants/test_data/calibration_cam-3.json
index 01d1ac0..16e67ec 100644
--- a/y2024/constants/test_data/calibration_cam-3.json
+++ b/y2024/constants/test_data/calibration_cam-3.json
@@ -1,5 +1,5 @@
{
- "node_name": "orin2",
+ "node_name": "imu",
"camera_number": 0,
"team_number": 7971,
"intrinsics": [
diff --git a/y2024/constants/test_data/calibration_cam-4.json b/y2024/constants/test_data/calibration_cam-4.json
index 3360781..1e5b623 100644
--- a/y2024/constants/test_data/calibration_cam-4.json
+++ b/y2024/constants/test_data/calibration_cam-4.json
@@ -1,5 +1,5 @@
{
- "node_name": "orin2",
+ "node_name": "imu",
"camera_number": 1,
"team_number": 7971,
"intrinsics": [
diff --git a/y2024/localizer/corrections_plotter.ts b/y2024/localizer/corrections_plotter.ts
index dbfbda6..fcd56eb 100644
--- a/y2024/localizer/corrections_plotter.ts
+++ b/y2024/localizer/corrections_plotter.ts
@@ -42,7 +42,7 @@
const targets = [];
const targetLabels = [];
- for (const orin of ['orin1', 'orin2']) {
+ for (const orin of ['orin1', 'imu']) {
for (const camera of ['camera0', 'camera1']) {
targetLabels.push(orin + ' ' + camera);
targets.push(aosPlotter.addRawMessageSource(
diff --git a/y2024/localizer/localizer.cc b/y2024/localizer/localizer.cc
index 34c0bc7..441360c 100644
--- a/y2024/localizer/localizer.cc
+++ b/y2024/localizer/localizer.cc
@@ -34,8 +34,8 @@
namespace y2024::localizer {
namespace {
constexpr std::array<std::string_view, Localizer::kNumCameras>
- kDetectionChannels{"/orin1/camera0", "/orin1/camera1", "/orin2/camera0",
- "/orin2/camera1"};
+ kDetectionChannels{"/orin1/camera0", "/orin1/camera1", "/imu/camera0",
+ "/imu/camera1"};
size_t CameraIndexForName(std::string_view name) {
for (size_t index = 0; index < kDetectionChannels.size(); ++index) {
diff --git a/y2024/localizer/localizer_replay.cc b/y2024/localizer/localizer_replay.cc
index 763ad36..c2c4c16 100644
--- a/y2024/localizer/localizer_replay.cc
+++ b/y2024/localizer/localizer_replay.cc
@@ -33,7 +33,7 @@
aos::logger::LogReader reader(logfiles, &config.message());
reader.RemapLoggedChannel("/localizer", "y2024.localizer.Status");
- for (const auto orin : {"orin1", "orin2"}) {
+ for (const auto orin : {"orin1", "imu"}) {
for (const auto camera : {"camera0", "camera1"}) {
reader.RemapLoggedChannel(absl::StrCat("/", orin, "/", camera),
"y2024.localizer.Visualization");
diff --git a/y2024/vision/calibrate_multi_cameras.cc b/y2024/vision/calibrate_multi_cameras.cc
index 9148217..21d454a 100644
--- a/y2024/vision/calibrate_multi_cameras.cc
+++ b/y2024/vision/calibrate_multi_cameras.cc
@@ -441,10 +441,8 @@
VLOG(1) << "Using target type " << FLAGS_target_type;
std::vector<std::string> node_list;
- node_list.push_back("pi1");
- node_list.push_back("pi2");
- node_list.push_back("pi3");
- node_list.push_back("pi4");
+ node_list.push_back("orin1");
+ node_list.push_back("imu");
std::vector<const calibration::CameraCalibration *> calibration_list;
std::vector<std::unique_ptr<aos::EventLoop>> detection_event_loops;
diff --git a/y2024/y2024_imu.json b/y2024/y2024_imu.json
index 6ab6c03..155edb4 100644
--- a/y2024/y2024_imu.json
+++ b/y2024/y2024_imu.json
@@ -171,7 +171,7 @@
"max_size": 200
},
{
- "name": "/orin2/camera0",
+ "name": "/imu/camera0",
"type": "frc971.vision.CameraImage",
"source_node": "imu",
"channel_storage_duration": 1000000000,
@@ -182,7 +182,7 @@
"num_senders": 18
},
{
- "name": "/orin2/camera1",
+ "name": "/imu/camera1",
"type": "frc971.vision.CameraImage",
"source_node": "imu",
"channel_storage_duration": 1000000000,
@@ -193,7 +193,7 @@
"num_senders": 18
},
{
- "name": "/orin2/camera0",
+ "name": "/imu/camera0",
"type": "foxglove.CompressedImage",
"source_node": "imu",
"logger": "NOT_LOGGED",
@@ -202,7 +202,7 @@
"max_size": 622384
},
{
- "name": "/orin2/camera1",
+ "name": "/imu/camera1",
"type": "foxglove.CompressedImage",
"source_node": "imu",
"logger": "NOT_LOGGED",
@@ -211,35 +211,35 @@
"max_size": 622384
},
{
- "name": "/orin2/camera0",
+ "name": "/imu/camera0",
"type": "foxglove.ImageAnnotations",
"source_node": "imu",
"frequency": 65,
"max_size": 50000
},
{
- "name": "/orin2/camera1",
+ "name": "/imu/camera1",
"type": "foxglove.ImageAnnotations",
"source_node": "imu",
"frequency": 65,
"max_size": 50000
},
{
- "name": "/orin2/camera0",
+ "name": "/imu/camera0",
"type": "y2024.localizer.Visualization",
"source_node": "imu",
"frequency": 65,
"max_size": 50000
},
{
- "name": "/orin2/camera1",
+ "name": "/imu/camera1",
"type": "y2024.localizer.Visualization",
"source_node": "imu",
"frequency": 65,
"max_size": 50000
},
{
- "name": "/orin2/camera0",
+ "name": "/imu/camera0",
"type": "frc971.vision.TargetMap",
"source_node": "imu",
"frequency": 65,
@@ -247,7 +247,7 @@
"max_size": 1024
},
{
- "name": "/orin2/camera1",
+ "name": "/imu/camera1",
"type": "frc971.vision.TargetMap",
"source_node": "imu",
"frequency": 65,
@@ -550,7 +550,7 @@
"source_node": "imu"
},
"rename": {
- "name": "/orin2/camera"
+ "name": "/imu/camera"
}
}
],