Revert "Move cameras to RobotConstants in y2024"
This reverts commit bf8cb9e31fb6715c56a6a01f8f3653660c361f6a.
Reason for revert: Misread y2024 as y2024_swerve; I don't want to change the y2024 code at this stage.
Change-Id: Ifb176abc546c1f9b40e6d28d958b730442f07343
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/constants/7971.json b/y2024/constants/7971.json
index 4aed3cb..c924174 100644
--- a/y2024/constants/7971.json
+++ b/y2024/constants/7971.json
@@ -6,6 +6,20 @@
{% from 'y2024/constants/common.jinja2' import extend_zero %}
{
+ "cameras": [
+ {
+ "calibration": {% include 'y2024/constants/calib_files/calibration_imu-7971-0_cam-24-01_2024-03-02_19-44-12.098903651.json' %}
+ },
+ {
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-7971-0_cam-24-04_2024-04-07_19-59-36.json' %}
+ },
+ {
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-7971-1_cam-24-02_2024-04-07_19-59-36.json' %}
+ },
+ {
+ "calibration": {% include 'y2024/constants/calib_files/calibration_imu-7971-1_cam-24-03_2024-04-07_19-59-36.json' %}
+ }
+ ],
"robot": {
{% set _ = intake_pivot_zero.update(
{
@@ -51,21 +65,7 @@
"potentiometer_offset": 0.0
},
"disable_extend": false,
- "disable_climber": false,
- "cameras": [
- {
- "calibration": {% include 'y2024/constants/calib_files/calibration_imu-7971-0_cam-24-01_2024-03-02_19-44-12.098903651.json' %}
- },
- {
- "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-7971-0_cam-24-04_2024-04-07_19-59-36.json' %}
- },
- {
- "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-7971-1_cam-24-02_2024-04-07_19-59-36.json' %}
- },
- {
- "calibration": {% include 'y2024/constants/calib_files/calibration_imu-7971-1_cam-24-03_2024-04-07_19-59-36.json' %}
- }
- ]
+ "disable_climber": false
},
{% include 'y2024/constants/common.json' %}
}
diff --git a/y2024/constants/971.json b/y2024/constants/971.json
index ce70e07..5145613 100644
--- a/y2024/constants/971.json
+++ b/y2024/constants/971.json
@@ -6,6 +6,20 @@
{% from 'y2024/constants/common.jinja2' import extend_zero %}
{
+ "cameras": [
+ {
+ "calibration": {% include 'y2024/constants/calib_files/calibration_imu-971-1_cam-24-05_2024-03-24_14-54-27.json' %}
+ },
+ {
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-971-0_cam-24-06_2024-03-24_14-54-27.json' %}
+ },
+ {
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-971-1_cam-24-07_2024-03-24_14-54-27.json' %}
+ },
+ {
+ "calibration": {% include 'y2024/constants/calib_files/calibration_imu-971-0_cam-24-08_2024-03-01_11-02-11.json' %}
+ }
+ ],
"robot": {
{% set _ = intake_pivot_zero.update(
{
@@ -51,21 +65,7 @@
"potentiometer_offset": {{ -0.2574404033256 + 0.0170793439542 - 0.177097393974999 + 0.3473623911879 - 0.1577 - 0.0214825988393}}
},
"disable_extend": false,
- "disable_climber": false,
- "cameras": [
- {
- "calibration": {% include 'y2024/constants/calib_files/calibration_imu-971-1_cam-24-05_2024-03-24_14-54-27.json' %}
- },
- {
- "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-971-0_cam-24-06_2024-03-24_14-54-27.json' %}
- },
- {
- "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-971-1_cam-24-07_2024-03-24_14-54-27.json' %}
- },
- {
- "calibration": {% include 'y2024/constants/calib_files/calibration_imu-971-0_cam-24-08_2024-03-01_11-02-11.json' %}
- }
- ]
+ "disable_climber": false
},
{% include 'y2024/constants/common.json' %}
}
diff --git a/y2024/constants/9971.json b/y2024/constants/9971.json
index 5a3e7fc..0cde2ad 100644
--- a/y2024/constants/9971.json
+++ b/y2024/constants/9971.json
@@ -6,6 +6,20 @@
{% from 'y2024/constants/common.jinja2' import extend_zero %}
{
+ "cameras": [
+ {
+ "calibration": {% include 'y2024/constants/calib_files/calibration_imu-9971-0_cam-24-10_2024-02-24_16-44-05.json' %}
+ },
+ {
+ "calibration": {% include 'y2024/constants/calib_files/calibration_imu-9971-1_cam-24-12_2024-03-24_11-52-49.json' %}
+ },
+ {
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-9971-0_cam-24-09_2024-03-24_11-52-49.json' %}
+ },
+ {
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-9971-1_cam-24-11_2024-03-24_11-52-49.json' %}
+ },
+ ],
"robot": {
{% set _ = intake_pivot_zero.update(
{
@@ -51,21 +65,7 @@
"potentiometer_offset": 0.0
},
"disable_extend": false,
- "disable_climber": false,
- "cameras": [
- {
- "calibration": {% include 'y2024/constants/calib_files/calibration_imu-9971-0_cam-24-10_2024-02-24_16-44-05.json' %}
- },
- {
- "calibration": {% include 'y2024/constants/calib_files/calibration_imu-9971-1_cam-24-12_2024-03-24_11-52-49.json' %}
- },
- {
- "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-9971-0_cam-24-09_2024-03-24_11-52-49.json' %}
- },
- {
- "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-9971-1_cam-24-11_2024-03-24_11-52-49.json' %}
- },
- ]
+ "disable_climber": false
},
{% include 'y2024/constants/common.json' %}
}
diff --git a/y2024/constants/constants.fbs b/y2024/constants/constants.fbs
index d4d05b7..6c1480c 100644
--- a/y2024/constants/constants.fbs
+++ b/y2024/constants/constants.fbs
@@ -150,7 +150,6 @@
extend_constants:PotAndAbsEncoderConstants (id: 5);
disable_extend:bool (id: 6);
disable_climber:bool (id: 7);
- cameras:[CameraConfiguration] (id: 9);
}
table ShooterSetPoint {
@@ -224,8 +223,9 @@
}
table Constants {
- robot:RobotConstants (id: 0);
- common:Common (id: 1);
+ cameras:[CameraConfiguration] (id: 0);
+ robot:RobotConstants (id: 1);
+ common:Common (id: 2);
}
root_type Constants;
diff --git a/y2024/constants/test_data/test_team.json b/y2024/constants/test_data/test_team.json
index 4601f50..9d40027 100644
--- a/y2024/constants/test_data/test_team.json
+++ b/y2024/constants/test_data/test_team.json
@@ -6,6 +6,20 @@
{% from 'y2024/constants/common.jinja2' import extend_zero %}
{
+ "cameras": [
+ {
+ "calibration": {% include 'y2024/constants/test_data/calibration_cam-1.json' %}
+ },
+ {
+ "calibration": {% include 'y2024/constants/test_data/calibration_cam-2.json' %}
+ },
+ {
+ "calibration": {% include 'y2024/constants/test_data/calibration_cam-3.json' %}
+ },
+ {
+ "calibration": {% include 'y2024/constants/test_data/calibration_cam-4.json' %}
+ }
+ ],
"robot": {
{% set _ = intake_pivot_zero.update(
{
@@ -51,21 +65,7 @@
"potentiometer_offset": 0.0
},
"disable_extend": false,
- "disable_climber": false,
- "cameras": [
- {
- "calibration": {% include 'y2024/constants/test_data/calibration_cam-1.json' %}
- },
- {
- "calibration": {% include 'y2024/constants/test_data/calibration_cam-2.json' %}
- },
- {
- "calibration": {% include 'y2024/constants/test_data/calibration_cam-3.json' %}
- },
- {
- "calibration": {% include 'y2024/constants/test_data/calibration_cam-4.json' %}
- }
- ]
+ "disable_climber": false
},
{% include 'y2024/constants/common.json' %}
}
diff --git a/y2024/localizer/localizer.cc b/y2024/localizer/localizer.cc
index 2b72f94..d73d171 100644
--- a/y2024/localizer/localizer.cc
+++ b/y2024/localizer/localizer.cc
@@ -140,9 +140,9 @@
std::array<Localizer::CameraState, Localizer::kNumCameras>
Localizer::MakeCameras(const Constants &constants, aos::EventLoop *event_loop) {
- CHECK(constants.robot()->has_cameras());
+ CHECK(constants.has_cameras());
std::array<Localizer::CameraState, Localizer::kNumCameras> cameras;
- for (const CameraConfiguration *camera : *constants.robot()->cameras()) {
+ for (const CameraConfiguration *camera : *constants.cameras()) {
CHECK(camera->has_calibration());
const frc971::vision::calibration::CameraCalibration *calibration =
camera->calibration();
diff --git a/y2024/localizer/localizer_test.cc b/y2024/localizer/localizer_test.cc
index bd97059..e5815e0 100644
--- a/y2024/localizer/localizer_test.cc
+++ b/y2024/localizer/localizer_test.cc
@@ -104,23 +104,20 @@
// Sanity check that the test calibration files look like what we
// expect.
CHECK_EQ("orin1", constants_fetcher_.constants()
- .robot()
- ->cameras()
+ .cameras()
->Get(0)
->calibration()
->node_name()
->string_view());
CHECK_EQ(0, constants_fetcher_.constants()
- .robot()
- ->cameras()
+ .cameras()
->Get(0)
->calibration()
->camera_number());
const Eigen::Matrix<double, 4, 4> H_robot_camera =
frc971::control_loops::drivetrain::FlatbufferToTransformationMatrix(
*constants_fetcher_.constants()
- .robot()
- ->cameras()
+ .cameras()
->Get(0)
->calibration()
->fixed_extrinsics());
diff --git a/y2024/vision/vision_util.cc b/y2024/vision/vision_util.cc
index cf52507..becb1cf 100644
--- a/y2024/vision/vision_util.cc
+++ b/y2024/vision/vision_util.cc
@@ -31,9 +31,9 @@
const frc971::vision::calibration::CameraCalibration *FindCameraCalibration(
const y2024::Constants &calibration_data, std::string_view node_name,
int camera_number) {
- CHECK(calibration_data.robot()->has_cameras());
+ CHECK(calibration_data.has_cameras());
for (const y2024::CameraConfiguration *candidate :
- *calibration_data.robot()->cameras()) {
+ *calibration_data.cameras()) {
CHECK(candidate->has_calibration());
if (candidate->calibration()->node_name()->string_view() != node_name ||
candidate->calibration()->camera_number() != camera_number) {