Madtown Camera Localization
Signed-off-by: Xander Yee <xander.yee@gmail.com>
Change-Id: Ida79fa29dbed1348e1ade649badd16ab3a15e09f
diff --git a/y2023/vision/calib_files/calibration_pi-9971-2_cam-23-06_ext_2023-04-12.json b/y2023/vision/calib_files/calibration_pi-9971-2_cam-23-06_ext_2023-04-12.json
index 5c9cca8..c08b02f 100644
--- a/y2023/vision/calib_files/calibration_pi-9971-2_cam-23-06_ext_2023-04-12.json
+++ b/y2023/vision/calib_files/calibration_pi-9971-2_cam-23-06_ext_2023-04-12.json
@@ -1 +1 @@
-{ "node_name": "pi2", "team_number": 9971, "intrinsics": [ 891.706848, 0.0, 640.791931, 0.0, 890.630981, 358.582306, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.858536, 0.224804, 0.460847, 0.198133, 0.473832, -0.00434901, -0.880604, -0.221657, -0.195959, 0.974394, -0.110253, 0.593406, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.451473, 0.257519, 0.000337, -0.000298, -0.086102 ], "calibration_timestamp": 1358501526409252911, "camera_id": "23-06" }
+{ "node_name": "pi2", "team_number": 9971, "intrinsics": [ 891.706848, 0.0, 640.791931, 0.0, 890.630981, 358.582306, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [0.852729, 0.198239, 0.483275, 0.174809, 0.490963, 0.0117216, -0.871101, -0.227802, -0.178351, 0.980084, -0.0873329, 0.54921, 0, 0, 0, 1 ] }, "dist_coeffs": [ -0.451473, 0.257519, 0.000337, -0.000298, -0.086102 ], "calibration_timestamp": 1358501526409252911, "camera_id": "23-06" }
diff --git a/y2023/vision/calib_files/calibration_pi-9971-3_cam-23-04_ext_2023-04-12.json b/y2023/vision/calib_files/calibration_pi-9971-3_cam-23-04_ext_2023-04-12.json
index 11b7f85..bd0051e 100644
--- a/y2023/vision/calib_files/calibration_pi-9971-3_cam-23-04_ext_2023-04-12.json
+++ b/y2023/vision/calib_files/calibration_pi-9971-3_cam-23-04_ext_2023-04-12.json
@@ -1 +1,4 @@
-{ "node_name": "pi3", "team_number": 9971, "intrinsics": [ 888.213257, 0.0, 622.755371, 0.0, 887.352905, 365.591736, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.482409, -0.181339, -0.85697, -0.115455, -0.871457, -0.000440151, -0.490471, -0.175596, 0.0885639, 0.983421, -0.158241, 0.61873, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.447815, 0.251622, 0.001888, -0.000286, -0.081473 ], "calibration_timestamp": 1358501982039874176, "camera_id": "23-04" }
+{ "node_name": "pi3", "team_number": 9971, "intrinsics": [ 888.213257, 0.0, 622.755371, 0.0, 887.352905, 365.591736, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.49282, -0.191686, -0.848755, -0.126154,
+-0.856394, 0.0657867, -0.512113, -0.178379,
+ 0.154001, 0.979249, -0.131738, 0.45039,
+ 0, 0, 0, 1] }, "dist_coeffs": [ -0.447815, 0.251622, 0.001888, -0.000286, -0.081473 ], "calibration_timestamp": 1358501982039874176, "camera_id": "23-04" }
diff --git a/y2023/vision/calib_files/calibration_pi-9971-4_cam-23-08_ext_2023-04-14.json b/y2023/vision/calib_files/calibration_pi-9971-4_cam-23-08_ext_2023-04-14.json
index cc86664..1af39d4 100644
--- a/y2023/vision/calib_files/calibration_pi-9971-4_cam-23-08_ext_2023-04-14.json
+++ b/y2023/vision/calib_files/calibration_pi-9971-4_cam-23-08_ext_2023-04-14.json
@@ -1 +1,3 @@
-{ "node_name": "pi4", "team_number": 9971, "intrinsics": [ 890.962952, 0.0, 656.281555, 0.0, 890.707336, 353.938538, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ -0.865915, -0.186983, -0.463928, -0.014873, -0.473362, 0.006652, 0.880843, -0.215738, -0.161617, 0.982341, -0.094271, 0.676433, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.450961, 0.256988, -0.000348, -0.00042, -0.083559 ], "calibration_timestamp": 1358501265150551614, "camera_id": "23-08" }
+{ "node_name": "pi4", "team_number": 9971, "intrinsics": [ 890.962952, 0.0, 656.281555, 0.0, 890.707336, 353.938538, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ -0.8586, -0.118879, -0.498672, -0.0978249,
+ -0.5075, 0.0596186, 0.859586, -0.136599,
+ -0.072457, 0.991117, -0.111519, 0.329121, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.450961, 0.256988, -0.000348, -0.00042, -0.083559 ], "calibration_timestamp": 1358501265150551614, "camera_id": "23-08" }