Cleanup calibration code (#25119)

* First attempt

* worksish

* tests pass

* cleanup

* get rid of garbahe

* fix name

* Still used in xx

* add debug functions

* used

* Revert "used"

This reverts commit 276e8ebab06d2d4f0e9927ba32b7d8aca2bf88c3.

* Update ref
old-commit-hash: 772b748689cff4d6dc6aab6a8a20247b29a86056

selfdrive/locationd/calibrationd.py

@@ -17,8 +17,6 @@ import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from common.params import Params, put_nonblocking
 from common.realtime import set_realtime_priority
-from common.transformations.model import model_height
-from common.transformations.camera import get_view_frame_from_road_frame
 from common.transformations.orientation import rot_from_euler, euler_from_rot
 from system.swaglog import cloudlog
 
@@ -180,7 +178,6 @@ class Calibrator:
 
   def get_msg(self) -> capnp.lib.capnp._DynamicStructBuilder:
     smooth_rpy = self.get_smooth_rpy()
-    extrinsic_matrix = get_view_frame_from_road_frame(0, smooth_rpy[1], smooth_rpy[2], model_height)
 
     msg = messaging.new_message('liveCalibration')
     liveCalibration = msg.liveCalibration
@@ -188,16 +185,13 @@ class Calibrator:
     liveCalibration.validBlocks = self.valid_blocks
     liveCalibration.calStatus = self.cal_status
     liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
-    liveCalibration.extrinsicMatrix = extrinsic_matrix.flatten().tolist()
     liveCalibration.rpyCalib = smooth_rpy.tolist()
     liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
 
     if self.not_car:
-      extrinsic_matrix = get_view_frame_from_road_frame(0, 0, 0, model_height)
       liveCalibration.validBlocks = INPUTS_NEEDED
       liveCalibration.calStatus = Calibration.CALIBRATED
       liveCalibration.calPerc = 100.
-      liveCalibration.extrinsicMatrix = extrinsic_matrix.flatten().tolist()
       liveCalibration.rpyCalib = [0, 0, 0]
       liveCalibration.rpyCalibSpread = self.calib_spread.tolist()