Add approximate extrinsics for swerve robot
These are chosen from measuring by hand; not via actual extrinsics
calibrations.
Change-Id: I7ae73606f3e8afca8c8b3710a903b0309aa09981
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024_swerve/constants/calib_files/calibration_imu-9971-0_cam-24-10_2024-02-24_16-44-05.json b/y2024_swerve/constants/calib_files/calibration_imu-9971-0_cam-24-10_2024-02-24_16-44-05.json
index d447d1a..0cc7585 100755
--- a/y2024_swerve/constants/calib_files/calibration_imu-9971-0_cam-24-10_2024-02-24_16-44-05.json
+++ b/y2024_swerve/constants/calib_files/calibration_imu-9971-0_cam-24-10_2024-02-24_16-44-05.json
@@ -15,17 +15,20 @@
"fixed_extrinsics": {
"data": [
0.0,
- -0.258819,
- -0.965926,
- -0.323293,
+ 0.0,
+ 1.0,
+ 0.325,
+
1.0,
0.0,
- -0.0,
- 0.268249,
0.0,
- -0.965926,
- 0.258819,
- 0.471129,
+ 0.125,
+
+ 0.0,
+ 1.0,
+ 0.0,
+ 0.2,
+
0.0,
0.0,
0.0,
diff --git a/y2024_swerve/constants/calib_files/calibration_imu-9971-1_cam-24-12_2024-03-24_11-52-49.json b/y2024_swerve/constants/calib_files/calibration_imu-9971-1_cam-24-12_2024-03-24_11-52-49.json
index 09c3913..9a171b1 100755
--- a/y2024_swerve/constants/calib_files/calibration_imu-9971-1_cam-24-12_2024-03-24_11-52-49.json
+++ b/y2024_swerve/constants/calib_files/calibration_imu-9971-1_cam-24-12_2024-03-24_11-52-49.json
@@ -14,18 +14,21 @@
],
"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,
+ -1.0,
+ -0.325,
+
+ -1.0,
+ 0.0,
+ 0.0,
+ 0.145,
+
+ 0.0,
+ 1.0,
+ 0.0,
+ 0.2,
+
0.0,
0.0,
0.0,
diff --git a/y2024_swerve/constants/calib_files/calibration_orin1-9971-0_cam-24-09_2024-03-24_11-52-49.json b/y2024_swerve/constants/calib_files/calibration_orin1-9971-0_cam-24-09_2024-03-24_11-52-49.json
index b531998..1279301 100755
--- a/y2024_swerve/constants/calib_files/calibration_orin1-9971-0_cam-24-09_2024-03-24_11-52-49.json
+++ b/y2024_swerve/constants/calib_files/calibration_orin1-9971-0_cam-24-09_2024-03-24_11-52-49.json
@@ -14,18 +14,21 @@
],
"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,
+ 1.0,
+ 0.0,
+ 0.0,
+ 0.08,
+
+ 0.0,
+ 0.0,
+ -1.0,
+ 0.335,
+
+ 0.0,
+ 1.0,
+ 0.0,
+ 0.2,
+
0.0,
0.0,
0.0,
diff --git a/y2024_swerve/constants/calib_files/calibration_orin1-9971-1_cam-24-11_2024-03-24_11-52-49.json b/y2024_swerve/constants/calib_files/calibration_orin1-9971-1_cam-24-11_2024-03-24_11-52-49.json
index daef89c..8618048 100755
--- a/y2024_swerve/constants/calib_files/calibration_orin1-9971-1_cam-24-11_2024-03-24_11-52-49.json
+++ b/y2024_swerve/constants/calib_files/calibration_orin1-9971-1_cam-24-11_2024-03-24_11-52-49.json
@@ -14,18 +14,21 @@
],
"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,
+ -1.0,
+ 0.0,
+ 0.0,
+ -0.095,
+
+ 0.0,
+ 0.0,
+ 1.0,
+ -0.335,
+
+ 0.0,
+ 1.0,
+ 0.0,
+ 0.2,
+
0.0,
0.0,
0.0,
@@ -43,4 +46,4 @@
"camera_id": "24-11",
"camera_number": 1,
"reprojection_error": 1.450069
-}
\ No newline at end of file
+}