Recalibrate comp bot extrinsics
Change-Id: I627f0c0371876e8b258341ec83a13114e016cba0
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/constants/971.json b/y2024/constants/971.json
index a8512c3..ee1f540 100644
--- a/y2024/constants/971.json
+++ b/y2024/constants/971.json
@@ -8,13 +8,13 @@
{
"cameras": [
{
- "calibration": {% include 'y2024/constants/calib_files/calibration_imu-971-1_cam-24-05_2024-03-17_21-52-58.json' %}
+ "calibration": {% include 'y2024/constants/calib_files/calibration_imu-971-1_cam-24-05_2024-03-24_14-54-27.json' %}
},
{
- "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-971-0_cam-24-06_2024-03-17_21-52-58.json' %}
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-971-0_cam-24-06_2024-03-24_14-54-27.json' %}
},
{
- "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-971-1_cam-24-07_2024-03-17_21-52-58.json' %}
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-971-1_cam-24-07_2024-03-24_14-54-27.json' %}
},
{
"calibration": {% include 'y2024/constants/calib_files/calibration_imu-971-0_cam-24-08_2024-03-01_11-02-11.json' %}
diff --git a/y2024/constants/calib_files/calibration_imu-971-1_cam-24-05_2024-03-17_21-52-58.json b/y2024/constants/calib_files/calibration_imu-971-1_cam-24-05_2024-03-24_14-54-27.json
similarity index 65%
rename from y2024/constants/calib_files/calibration_imu-971-1_cam-24-05_2024-03-17_21-52-58.json
rename to y2024/constants/calib_files/calibration_imu-971-1_cam-24-05_2024-03-24_14-54-27.json
index 8e8b1a0..9a06ca4 100755
--- a/y2024/constants/calib_files/calibration_imu-971-1_cam-24-05_2024-03-17_21-52-58.json
+++ b/y2024/constants/calib_files/calibration_imu-971-1_cam-24-05_2024-03-24_14-54-27.json
@@ -14,18 +14,18 @@
],
"fixed_extrinsics": {
"data": [
- 0.999298,
- -0.037458,
- 0.000597,
- 0.13845,
- 0.00805,
- 0.230258,
- 0.973096,
- 0.328324,
- -0.036588,
- -0.972409,
- 0.230398,
- 0.313802,
+ 0.999778,
+ -0.021035,
+ 0.001571,
+ 0.126097,
+ 0.00287,
+ 0.209453,
+ 0.977814,
+ 0.279701,
+ -0.020898,
+ -0.977593,
+ 0.209467,
+ 0.329598,
0.0,
0.0,
0.0,
@@ -39,7 +39,7 @@
-0.000078,
-0.008004
],
- "calibration_timestamp": 1710737578848658152,
+ "calibration_timestamp": 1711317267098016437,
"camera_id": "24-05",
"camera_number": 1,
"reprojection_error": 1.058851
diff --git a/y2024/constants/calib_files/calibration_orin1-971-0_cam-24-06_2024-03-17_21-52-58.json b/y2024/constants/calib_files/calibration_orin1-971-0_cam-24-06_2024-03-24_14-54-27.json
similarity index 65%
rename from y2024/constants/calib_files/calibration_orin1-971-0_cam-24-06_2024-03-17_21-52-58.json
rename to y2024/constants/calib_files/calibration_orin1-971-0_cam-24-06_2024-03-24_14-54-27.json
index 56961e0..c7146bb 100755
--- a/y2024/constants/calib_files/calibration_orin1-971-0_cam-24-06_2024-03-17_21-52-58.json
+++ b/y2024/constants/calib_files/calibration_orin1-971-0_cam-24-06_2024-03-24_14-54-27.json
@@ -14,18 +14,18 @@
],
"fixed_extrinsics": {
"data": [
- -0.999075,
- -0.02262,
- -0.036586,
- 0.15129,
- 0.040353,
- -0.198353,
- -0.9793,
- -0.217666,
- 0.014895,
- -0.97987,
- 0.199082,
- 0.26798,
+ -0.994734,
+ -0.057157,
+ -0.085073,
+ 0.126809,
+ 0.095006,
+ -0.202848,
+ -0.97459,
+ -0.218389,
+ 0.038448,
+ -0.977541,
+ 0.20721,
+ 0.322807,
0.0,
0.0,
0.0,
@@ -39,8 +39,8 @@
0.000376,
-0.009155
],
- "calibration_timestamp": 2328053993530848,
+ "calibration_timestamp": 1711317267098685054,
"camera_id": "24-06",
"camera_number": 0,
"reprojection_error": 2.574085
-}
+}
\ No newline at end of file
diff --git a/y2024/constants/calib_files/calibration_orin1-971-1_cam-24-07_2024-03-17_21-52-58.json b/y2024/constants/calib_files/calibration_orin1-971-1_cam-24-07_2024-03-24_14-54-27.json
similarity index 65%
rename from y2024/constants/calib_files/calibration_orin1-971-1_cam-24-07_2024-03-17_21-52-58.json
rename to y2024/constants/calib_files/calibration_orin1-971-1_cam-24-07_2024-03-24_14-54-27.json
index 1412d3e..dfda047 100755
--- a/y2024/constants/calib_files/calibration_orin1-971-1_cam-24-07_2024-03-17_21-52-58.json
+++ b/y2024/constants/calib_files/calibration_orin1-971-1_cam-24-07_2024-03-24_14-54-27.json
@@ -14,18 +14,18 @@
],
"fixed_extrinsics": {
"data": [
- 0.00834,
- 0.006439,
- 0.999945,
- 0.38743,
- 0.999567,
- -0.028281,
- -0.008154,
- 0.296717,
- 0.028227,
- 0.999579,
- -0.006672,
- 0.360483,
+ -0.003277,
+ 0.017881,
+ 0.999835,
+ 0.352681,
+ 0.999963,
+ 0.008063,
+ 0.003133,
+ 0.253385,
+ -0.008005,
+ 0.999808,
+ -0.017906,
+ 0.386766,
0.0,
0.0,
0.0,
@@ -39,7 +39,7 @@
0.000016,
-0.005638
],
- "calibration_timestamp": 1710737578849179056,
+ "calibration_timestamp": 1711317267098469979,
"camera_id": "24-07",
"camera_number": 1,
"reprojection_error": 1.362672