Full calibration files for 971 bot
Includes both intrinsic and extrinsic
I will probably want to update these, but they should be good enough to get started
(For example, the x location of pi1 camera doesn't seem right, but most of the other data
looks reasonable)
Change-Id: Ib562dc0ef6353cbbc2b26e1b30d05b55baf47c27
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/y2023/constants/971.json b/y2023/constants/971.json
index f00cc1c..db588e7 100644
--- a/y2023/constants/971.json
+++ b/y2023/constants/971.json
@@ -1,16 +1,16 @@
{
"cameras": [
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-1_cam-23-05_2013-01-18_09-38-22.915096335.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-1_cam-23-05_ext_2023-02-22.json' %}
},
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_2013-01-18_09-32-06.409252911.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_ext_2023-02-22.json' %}
},
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-3_cam-23-07_2013-01-18_09-11-56.768663953.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-3_cam-23-07_ext_2023-02-22.json' %}
},
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-4_cam-23-08_2013-01-18_09-27-45.150551614.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-4_cam-23-08_ext_2023-02-22.json' %}
}
]
}
diff --git a/y2023/vision/calib_files/calibration_pi-971-1_cam-23-05_ext_2023-02-22.json b/y2023/vision/calib_files/calibration_pi-971-1_cam-23-05_ext_2023-02-22.json
new file mode 100644
index 0000000..b21da40
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-1_cam-23-05_ext_2023-02-22.json
@@ -0,0 +1 @@
+{ "node_name": "pi1", "team_number": 971, "intrinsics": [ 890.980713, 0.0, 619.298645, 0.0, 890.668762, 364.009766, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ -0.487722, 0.222354, 0.844207, 0.025116, 0.864934, -0.008067, 0.501821, -0.246003, 0.118392, 0.974933, -0.188387, 0.532497, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.449172, 0.252318, 0.000881, -0.000615, -0.082208 ], "calibration_timestamp": 1358501902915096335, "camera_id": "23-05" }
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_ext_2023-02-22.json b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_ext_2023-02-22.json
new file mode 100644
index 0000000..4759fda
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_ext_2023-02-22.json
@@ -0,0 +1 @@
+{ "node_name": "pi2", "team_number": 971, "intrinsics": [ 893.242981, 0.0, 639.796692, 0.0, 892.498718, 354.109344, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.852213, 0.227336, 0.471224, 0.220072, 0.485092, -0.005909, -0.874443, -0.175232, -0.196008, 0.973799, -0.115315, 0.61409, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.451751, 0.252422, 0.000531, 0.000079, -0.079369 ], "calibration_timestamp": 1358501526409252911, "camera_id": "23-06" }
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-971-3_cam-23-07_ext_2023-02-22.json b/y2023/vision/calib_files/calibration_pi-971-3_cam-23-07_ext_2023-02-22.json
new file mode 100644
index 0000000..8c86d20
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-3_cam-23-07_ext_2023-02-22.json
@@ -0,0 +1 @@
+{ "node_name": "pi3", "team_number": 971, "intrinsics": [ 892.627869, 0.0, 629.289978, 0.0, 891.73761, 373.299896, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.492232, -0.163335, -0.855002, 0.020122, -0.866067, 0.006706, -0.499883, -0.174518, 0.087382, 0.986548, -0.138158, 0.645307, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.454901, 0.266778, -0.000316, -0.000469, -0.091357 ], "calibration_timestamp": 1358500316768663953, "camera_id": "23-07" }
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-971-4_cam-23-08_ext_2023-02-22.json b/y2023/vision/calib_files/calibration_pi-971-4_cam-23-08_ext_2023-02-22.json
new file mode 100644
index 0000000..92ab69c
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-4_cam-23-08_ext_2023-02-22.json
@@ -0,0 +1 @@
+{ "node_name": "pi4", "team_number": 971, "intrinsics": [ 891.88385, 0.0, 642.268616, 0.0, 890.626465, 353.272919, 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": [ -0.448426, 0.246817, 0.000002, 0.000948, -0.076717 ], "calibration_timestamp": 1358501265150551614, "camera_id": "23-08" }
\ No newline at end of file