Add dummy extrinsics to make localizer happy
Also update the plotter to work again.
Change-Id: I1c4646c5df90d719c35157aec1c30a96d0fe672f
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-06_1970-01-05_17-40-29.245444672.json b/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-06_1970-01-05_17-40-29.245444672.json
index ffdf16c..099b352 100755
--- a/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-06_1970-01-05_17-40-29.245444672.json
+++ b/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-06_1970-01-05_17-40-29.245444672.json
@@ -22,5 +22,28 @@
"calibration_timestamp": 409229245444672,
"camera_id": "24-06",
"camera_number": 0,
+ "fixed_extrinsics": {
+ "data": [
+ 0.0,
+ 0.0,
+ 1.0,
+ 1.0,
+
+ -1.0,
+ 0.0,
+ 0.0,
+ 0.0,
+
+ 0.0,
+ -1.0,
+ 0.0,
+ 0.0,
+
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ },
"reprojection_error": 1.344104
-}
\ No newline at end of file
+}
diff --git a/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-07_2024-02-24_19-52-27.338466592.json b/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-07_2024-02-24_19-52-27.338466592.json
index b691f56..52bfb77 100755
--- a/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-07_2024-02-24_19-52-27.338466592.json
+++ b/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-07_2024-02-24_19-52-27.338466592.json
@@ -21,6 +21,29 @@
],
"calibration_timestamp": 1708833147338466592,
"camera_id": "24-07",
- "camera_number": 0,
+ "camera_number": 1,
+ "fixed_extrinsics": {
+ "data": [
+ 0.0,
+ 0.0,
+ 1.0,
+ 0.0,
+
+ -1.0,
+ 0.0,
+ 0.0,
+ 0.0,
+
+ 0.0,
+ -1.0,
+ 0.0,
+ 0.0,
+
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ },
"reprojection_error": 1.362672
-}
\ No newline at end of file
+}
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 14d9bda..b717b37 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
@@ -22,5 +22,28 @@
"calibration_timestamp": 1708820514420797344,
"camera_id": "24-08",
"camera_number": 0,
- "reprojection_error": 1.591953
+ "reprojection_error": 1.591953,
+ "fixed_extrinsics": {
+ "data": [
+ 0.0,
+ 0.0,
+ 1.0,
+ 1.0,
+
+ -1.0,
+ 0.0,
+ 0.0,
+ 0.0,
+
+ 0.0,
+ -1.0,
+ 0.0,
+ 0.0,
+
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ }
}
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 2ac9471..f1a1745 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
@@ -22,5 +22,28 @@
"calibration_timestamp": 409227793683328,
"camera_id": "24-05",
"camera_number": 1,
+ "fixed_extrinsics": {
+ "data": [
+ 0.0,
+ 0.0,
+ 1.0,
+ 1.0,
+
+ -1.0,
+ 0.0,
+ 0.0,
+ 0.0,
+
+ 0.0,
+ -1.0,
+ 0.0,
+ 0.0,
+
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ },
"reprojection_error": 1.058851
-}
\ No newline at end of file
+}
diff --git a/y2024/localizer/corrections_plotter.ts b/y2024/localizer/corrections_plotter.ts
index fcd56eb..c883759 100644
--- a/y2024/localizer/corrections_plotter.ts
+++ b/y2024/localizer/corrections_plotter.ts
@@ -91,7 +91,7 @@
xPlot.addMessageLine(targets[ii], ['implied_robot_x'])
.setDrawLine(false)
.setColor(PI_COLORS[ii])
- .setLabel('pi' + (ii + 1));
+ .setLabel(targetLabels[ii]);
}
xPlot.addMessageLine(localizerOutput, ['x'])
.setDrawLine(false)
@@ -106,7 +106,7 @@
correctionXPlot.addMessageLine(targets[ii], ['correction_x'])
.setDrawLine(false)
.setColor(PI_COLORS[ii])
- .setLabel('pi' + (ii + 1));
+ .setLabel(targetLabels[ii]);
}
const yPlot = aosPlotter.addPlot(element);
@@ -118,7 +118,7 @@
yPlot.addMessageLine(targets[ii], ['implied_robot_y'])
.setDrawLine(false)
.setColor(PI_COLORS[ii])
- .setLabel('pi' + (ii + 1));
+ .setLabel(targetLabels[ii]);
}
yPlot.addMessageLine(localizerOutput, ['y'])
.setDrawLine(false)
@@ -133,7 +133,7 @@
correctionYPlot.addMessageLine(targets[ii], ['correction_y'])
.setDrawLine(false)
.setColor(PI_COLORS[ii])
- .setLabel('pi' + (ii + 1));
+ .setLabel(targetLabels[ii]);
}
const thetaPlot = aosPlotter.addPlot(element);
@@ -145,7 +145,7 @@
thetaPlot.addMessageLine(targets[ii], ['implied_robot_theta'])
.setDrawLine(false)
.setColor(PI_COLORS[ii])
- .setLabel('pi' + (ii + 1));
+ .setLabel(targetLabels[ii]);
}
thetaPlot.addMessageLine(localizerOutput, ['theta'])
.setDrawLine(false)
@@ -160,7 +160,7 @@
aprilTagPlot.addMessageLine(targets[ii], ['april_tag'])
.setDrawLine(false)
.setColor(PI_COLORS[ii])
- .setLabel('pi' + (ii + 1));
+ .setLabel(targetLabels[ii]);
}
const imageAgePlot = aosPlotter.addPlot(element);
@@ -172,6 +172,6 @@
imageAgePlot.addMessageLine(targets[ii], ['image_age_sec'])
.setDrawLine(false)
.setColor(PI_COLORS[ii])
- .setLabel('pi' + (ii + 1));
+ .setLabel(targetLabels[ii]);
}
}