Update extrinsics calib to properly traverse nodes
This change makes it so we properly access the constants and we
traverse the cameras in order of where they are on the box of orins.
This however might be different with the robot, so this is something we
should look at making more customizable.
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I2047f4c41aeeb6aa58dd6c9a3df96ec5e8562740
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());