Add second robot extrinsics
The first robot was used as base extrinsics
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: Ic6d56f9542d24f599c66db66d42e1063ff736b96
diff --git a/y2024/constants/9971.json b/y2024/constants/9971.json
index da8ed92..755b56a 100644
--- a/y2024/constants/9971.json
+++ b/y2024/constants/9971.json
@@ -8,16 +8,16 @@
{
"cameras": [
{
- "calibration": {% include 'y2024/constants/calib_files/calibration_imu-9971-1-0_cam-24-10_2024-02-24_16-44-05.975708672.json' %}
+ "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-9971-1-1_cam-24-12_2024-02-24_19-52-39.488095264.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_orin-9971-1-0_cam-24-09_2024-02-24_16-10-16.872521280.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_orin-9971-1-1_cam-24-11_2024-02-24_16-44-06.986729504.json' %}
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-9971-1_cam-24-11_2024-03-24_11-52-49.json' %}
},
],
"robot": {
diff --git a/y2024/constants/calib_files/calibration_imu-9971-1-0_cam-24-10_2024-02-24_16-44-05.975708672.json b/y2024/constants/calib_files/calibration_imu-9971-0_cam-24-10_2024-02-24_16-44-05.json
similarity index 63%
rename from y2024/constants/calib_files/calibration_imu-9971-1-0_cam-24-10_2024-02-24_16-44-05.975708672.json
rename to y2024/constants/calib_files/calibration_imu-9971-0_cam-24-10_2024-02-24_16-44-05.json
index 66ea94a..e5f50e3 100755
--- a/y2024/constants/calib_files/calibration_imu-9971-1-0_cam-24-10_2024-02-24_16-44-05.975708672.json
+++ b/y2024/constants/calib_files/calibration_imu-9971-0_cam-24-10_2024-02-24_16-44-05.json
@@ -12,6 +12,26 @@
0.0,
1.0
],
+ "fixed_extrinsics": {
+ "data": [
+ 0.0,
+ -0.258819,
+ -0.965926,
+ -0.323293,
+ 1.0,
+ 0.0,
+ -0.0,
+ 0.268249,
+ 0.0,
+ -0.965926,
+ 0.258819,
+ 0.471129,
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ },
"dist_coeffs": [
-0.251594,
0.064935,
diff --git a/y2024/constants/calib_files/calibration_imu-9971-1-1_cam-24-12_2024-02-24_19-52-39.488095264.json b/y2024/constants/calib_files/calibration_imu-9971-1-1_cam-24-12_2024-02-24_19-52-39.488095264.json
deleted file mode 100755
index 7f8b6ad..0000000
--- a/y2024/constants/calib_files/calibration_imu-9971-1-1_cam-24-12_2024-02-24_19-52-39.488095264.json
+++ /dev/null
@@ -1,26 +0,0 @@
-{
- "node_name": "imu",
- "team_number": 9971,
- "intrinsics": [
- 647.19928,
- 0.0,
- 690.698181,
- 0.0,
- 646.449158,
- 530.162842,
- 0.0,
- 0.0,
- 1.0
- ],
- "dist_coeffs": [
- -0.249799,
- 0.062593,
- 0.00003,
- 0.000366,
- -0.006532
- ],
- "calibration_timestamp": 1708833159488095264,
- "camera_id": "24-12",
- "camera_number": 1,
- "reprojection_error": 1.23409
-}
diff --git a/y2024/constants/calib_files/calibration_imu-9971-1_cam-24-12_2024-03-24_11-52-49.json b/y2024/constants/calib_files/calibration_imu-9971-1_cam-24-12_2024-03-24_11-52-49.json
new file mode 100755
index 0000000..530e88a
--- /dev/null
+++ b/y2024/constants/calib_files/calibration_imu-9971-1_cam-24-12_2024-03-24_11-52-49.json
@@ -0,0 +1,46 @@
+{
+ "node_name": "imu",
+ "team_number": 9971,
+ "intrinsics": [
+ 647.19928,
+ 0.0,
+ 690.698181,
+ 0.0,
+ 646.449158,
+ 530.162842,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "fixed_extrinsics": {
+ "data": [
+ 0.99969,
+ 0.020217,
+ -0.014527,
+ 0.160342,
+ 0.009501,
+ 0.229548,
+ 0.973251,
+ 0.25208,
+ 0.023011,
+ -0.973088,
+ 0.229284,
+ 0.41504,
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ },
+ "dist_coeffs": [
+ -0.249799,
+ 0.062593,
+ 0.00003,
+ 0.000366,
+ -0.006532
+ ],
+ "calibration_timestamp": 1711306369592332476,
+ "camera_id": "24-12",
+ "camera_number": 1,
+ "reprojection_error": 1.23409
+}
\ No newline at end of file
diff --git a/y2024/constants/calib_files/calibration_orin-9971-1-0_cam-24-09_2024-02-24_16-10-16.872521280.json b/y2024/constants/calib_files/calibration_orin-9971-1-0_cam-24-09_2024-02-24_16-10-16.872521280.json
deleted file mode 100755
index 068e3d2..0000000
--- a/y2024/constants/calib_files/calibration_orin-9971-1-0_cam-24-09_2024-02-24_16-10-16.872521280.json
+++ /dev/null
@@ -1,26 +0,0 @@
-{
- "node_name": "orin1",
- "team_number": 9971,
- "intrinsics": [
- 648.187805,
- 0.0,
- 736.903137,
- 0.0,
- 648.028687,
- 557.169861,
- 0.0,
- 0.0,
- 1.0
- ],
- "dist_coeffs": [
- -0.265564,
- 0.078084,
- -0.000231,
- 0.000386,
- -0.010425
- ],
- "calibration_timestamp": 1708819816872521280,
- "camera_id": "24-09",
- "camera_number": 0,
- "reprojection_error": 1.881098
-}
diff --git a/y2024/constants/calib_files/calibration_orin-9971-1-1_cam-24-11_2024-02-24_16-44-06.986729504.json b/y2024/constants/calib_files/calibration_orin-9971-1-1_cam-24-11_2024-02-24_16-44-06.986729504.json
deleted file mode 100755
index c94dcaa..0000000
--- a/y2024/constants/calib_files/calibration_orin-9971-1-1_cam-24-11_2024-02-24_16-44-06.986729504.json
+++ /dev/null
@@ -1,26 +0,0 @@
-{
- "node_name": "orin1",
- "team_number": 9971,
- "intrinsics": [
- 649.866699,
- 0.0,
- 709.355713,
- 0.0,
- 648.893066,
- 576.101868,
- 0.0,
- 0.0,
- 1.0
- ],
- "dist_coeffs": [
- -0.248092,
- 0.060938,
- 0.000313,
- 0.00009,
- -0.006163
- ],
- "calibration_timestamp": 1708821846986729504,
- "camera_id": "24-11",
- "camera_number": 1,
- "reprojection_error": 1.450069
-}
diff --git a/y2024/constants/calib_files/calibration_orin1-9971-0_cam-24-09_2024-03-24_11-52-49.json b/y2024/constants/calib_files/calibration_orin1-9971-0_cam-24-09_2024-03-24_11-52-49.json
new file mode 100755
index 0000000..97234c9
--- /dev/null
+++ b/y2024/constants/calib_files/calibration_orin1-9971-0_cam-24-09_2024-03-24_11-52-49.json
@@ -0,0 +1,46 @@
+{
+ "node_name": "orin1",
+ "team_number": 9971,
+ "intrinsics": [
+ 648.187805,
+ 0.0,
+ 736.903137,
+ 0.0,
+ 648.028687,
+ 557.169861,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "fixed_extrinsics": {
+ "data": [
+ -0.999204,
+ -0.034711,
+ -0.019682,
+ 0.162103,
+ 0.028118,
+ -0.262536,
+ -0.964512,
+ -0.329348,
+ 0.028312,
+ -0.964298,
+ 0.263303,
+ 0.562319,
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ },
+ "dist_coeffs": [
+ -0.265564,
+ 0.078084,
+ -0.000231,
+ 0.000386,
+ -0.010425
+ ],
+ "calibration_timestamp": 1711306369593360533,
+ "camera_id": "24-09",
+ "camera_number": 0,
+ "reprojection_error": 1.881098
+}
\ No newline at end of file
diff --git a/y2024/constants/calib_files/calibration_orin1-9971-1_cam-24-11_2024-03-24_11-52-49.json b/y2024/constants/calib_files/calibration_orin1-9971-1_cam-24-11_2024-03-24_11-52-49.json
new file mode 100755
index 0000000..daef89c
--- /dev/null
+++ b/y2024/constants/calib_files/calibration_orin1-9971-1_cam-24-11_2024-03-24_11-52-49.json
@@ -0,0 +1,46 @@
+{
+ "node_name": "orin1",
+ "team_number": 9971,
+ "intrinsics": [
+ 649.866699,
+ 0.0,
+ 709.355713,
+ 0.0,
+ 648.893066,
+ 576.101868,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "fixed_extrinsics": {
+ "data": [
+ -0.014623,
+ 0.004459,
+ 0.999883,
+ 0.345385,
+ 0.997965,
+ 0.062137,
+ 0.014318,
+ 0.150131,
+ -0.062066,
+ 0.998058,
+ -0.005359,
+ 0.570236,
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ },
+ "dist_coeffs": [
+ -0.248092,
+ 0.060938,
+ 0.000313,
+ 0.00009,
+ -0.006163
+ ],
+ "calibration_timestamp": 1711306369592886702,
+ "camera_id": "24-11",
+ "camera_number": 1,
+ "reprojection_error": 1.450069
+}
\ No newline at end of file