Merge "Checking in instrinsic calibration files for 2023 season for the box of pis"
diff --git a/y2023/constants/7971.json b/y2023/constants/7971.json
index 3e05416..fcc58a3 100644
--- a/y2023/constants/7971.json
+++ b/y2023/constants/7971.json
@@ -1,16 +1,16 @@
 {
   "cameras": [
     {
-      "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-1_2021-06-12_15-35-39.636386620.json' %}
+      "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-1_cam-23-01_2013-01-18_09-15-19.438113048.json' %}
     },
     {
-      "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-2_2021-06-12_15-30-20.325393444.json' %}
+      "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-2_cam-23-02_2013-01-18_09-02-49.498335208.json' %}
     },
     {
-      "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-3_2021-06-12_15-33-31.977365877.json' %}
+      "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-3_cam-23-03_2013-01-18_09-39-27.378322133.json' %}
     },
     {
-      "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-4_2021-06-12_15-37-25.706564865.json' %}
+      "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_2013-01-18_09-39-42.039874176.json' %}
     }
   ],
   "target_map": {% include 'y2023/vision/maps/target_map.json' %}
diff --git a/y2023/vision/calib_files/calibration_pi-2023-base-calib.json b/y2023/vision/calib_files/calibration_pi-2023-base-calib.json
new file mode 100755
index 0000000..747dcb7
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-2023-base-calib.json
@@ -0,0 +1,44 @@
+{
+ "node_name": "pi1",
+ "team_number": 7971,
+ "intrinsics": [
+  893.759521,
+  0.0,
+  645.470764,
+  0.0,
+  893.222351,
+  388.150269,
+  0.0,
+  0.0,
+  1.0
+ ],
+ "dist_coeffs": [
+  -0.44902,
+  0.248409,
+  -0.000537,
+  -0.000112,
+  -0.076989
+ ],
+  "fixed_extrinsics": {
+    "data": [
+      -1,
+      -1.57586107256918e-16,
+      5.0158596452676243e-17,
+      -0.15239999999999998,
+      1.3147519464173305e-16,
+      -0.5735764363510459,
+      0.8191520442889919,
+      -0.2032,
+      -1.0031719290535249e-16,
+      0.8191520442889919,
+      0.5735764363510459,
+      0.0127,
+      0,
+      0,
+      0,
+      1
+    ]
+  },
+ "calibration_timestamp": 1358500519438113048,
+ "camera_id": "23-01"
+}
diff --git a/y2023/vision/calib_files/calibration_pi-7971-1_2021-06-12_15-35-39.636386620.json b/y2023/vision/calib_files/calibration_pi-7971-1_2021-06-12_15-35-39.636386620.json
deleted file mode 100644
index fc739fd..0000000
--- a/y2023/vision/calib_files/calibration_pi-7971-1_2021-06-12_15-35-39.636386620.json
+++ /dev/null
@@ -1,43 +0,0 @@
-{
-  "node_name": "pi1",
-  "team_number": 7971,
-  "intrinsics": [
-    388.369812,
-    0,
-    292.325653,
-    0,
-    388.513733,
-    224.371063,
-    0,
-    0,
-    1
-  ],
-  "dist_coeffs": [
-    0.126935,
-    -0.218447,
-    -0.000152,
-    0.001158,
-    0.06266
-  ],
-  "fixed_extrinsics": {
-    "data": [
-      -1,
-      -1.57586107256918e-16,
-      5.0158596452676243e-17,
-      -0.15239999999999998,
-      1.3147519464173305e-16,
-      -0.5735764363510459,
-      0.8191520442889919,
-      -0.2032,
-      -1.0031719290535249e-16,
-      0.8191520442889919,
-      0.5735764363510459,
-      0.0127,
-      0,
-      0,
-      0,
-      1
-    ]
-  },
-  "calibration_timestamp": 1623537339636386600
-}
diff --git a/y2023/vision/calib_files/calibration_pi-7971-1_cam-23-01_2013-01-18_09-15-19.438113048.json b/y2023/vision/calib_files/calibration_pi-7971-1_cam-23-01_2013-01-18_09-15-19.438113048.json
new file mode 100755
index 0000000..c3ecd9e
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-1_cam-23-01_2013-01-18_09-15-19.438113048.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi1",
+ "team_number": 7971,
+ "intrinsics": [
+  893.759521,
+  0.0,
+  645.470764,
+  0.0,
+  893.222351,
+  388.150269,
+  0.0,
+  0.0,
+  1.0
+ ],
+ "dist_coeffs": [
+  -0.44902,
+  0.248409,
+  -0.000537,
+  -0.000112,
+  -0.076989
+ ],
+ "calibration_timestamp": 1358500519438113048,
+ "camera_id": "23-01"
+}
diff --git a/y2023/vision/calib_files/calibration_pi-7971-2_2021-06-12_15-30-20.325393444.json b/y2023/vision/calib_files/calibration_pi-7971-2_2021-06-12_15-30-20.325393444.json
deleted file mode 100644
index 3cf285c..0000000
--- a/y2023/vision/calib_files/calibration_pi-7971-2_2021-06-12_15-30-20.325393444.json
+++ /dev/null
@@ -1,43 +0,0 @@
-{
-  "node_name": "pi2",
-  "team_number": 7971,
-  "intrinsics": [
-    388.7565,
-    0,
-    285.024506,
-    0,
-    388.915039,
-    222.227539,
-    0,
-    0,
-    1
-  ],
-  "dist_coeffs": [
-    0.128415,
-    -0.212528,
-    0.001165,
-    0.000579,
-    0.054853
-  ],
-  "fixed_extrinsics": {
-    "data": [
-      7.02428546843654e-17,
-      -0.5735764363510459,
-      0.8191520442889919,
-      0.09525,
-      1,
-      1.2246467991473532e-16,
-      0,
-      0.1905,
-      -1.0031719290535249e-16,
-      0.8191520442889919,
-      0.5735764363510459,
-      0.0127,
-      0,
-      0,
-      0,
-      1
-    ]
-  },
-  "calibration_timestamp": 1623537020325393400
-}
diff --git a/y2023/vision/calib_files/calibration_pi-7971-2_cam-23-02_2013-01-18_09-02-49.498335208.json b/y2023/vision/calib_files/calibration_pi-7971-2_cam-23-02_2013-01-18_09-02-49.498335208.json
new file mode 100755
index 0000000..2e6f2a0
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-2_cam-23-02_2013-01-18_09-02-49.498335208.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi2",
+ "team_number": 7971,
+ "intrinsics": [
+  895.543945,
+  0.0,
+  645.250122,
+  0.0,
+  895.308838,
+  354.297241,
+  0.0,
+  0.0,
+  1.0
+ ],
+ "dist_coeffs": [
+  -0.455658,
+  0.272167,
+  0.000796,
+  -0.000206,
+  -0.0975
+ ],
+ "calibration_timestamp": 1358499769498335208,
+ "camera_id": "23-02"
+}
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-7971-3_2021-06-12_15-33-31.977365877.json b/y2023/vision/calib_files/calibration_pi-7971-3_2021-06-12_15-33-31.977365877.json
deleted file mode 100644
index c7a7581..0000000
--- a/y2023/vision/calib_files/calibration_pi-7971-3_2021-06-12_15-33-31.977365877.json
+++ /dev/null
@@ -1,43 +0,0 @@
-{
-  "node_name": "pi3",
-  "team_number": 7971,
-  "intrinsics": [
-    389.35611,
-    0,
-    339.345673,
-    0,
-    389.516235,
-    240.247787,
-    0,
-    0,
-    1
-  ],
-  "dist_coeffs": [
-    0.122511,
-    -0.209383,
-    -0.001212,
-    4.1e-05,
-    0.05674
-  ],
-  "fixed_extrinsics": {
-    "data": [
-      7.02428546843654e-17,
-      -0.5735764363510459,
-      0.8191520442889919,
-      0.09525,
-      1,
-      1.2246467991473532e-16,
-      0,
-      -0.10794999999999999,
-      -1.0031719290535249e-16,
-      0.8191520442889919,
-      0.5735764363510459,
-      0.0127,
-      0,
-      0,
-      0,
-      1
-    ]
-  },
-  "calibration_timestamp": 1623537211977365800
-}
diff --git a/y2023/vision/calib_files/calibration_pi-7971-3_cam-23-03_2013-01-18_09-39-27.378322133.json b/y2023/vision/calib_files/calibration_pi-7971-3_cam-23-03_2013-01-18_09-39-27.378322133.json
new file mode 100755
index 0000000..d9c4154
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-3_cam-23-03_2013-01-18_09-39-27.378322133.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi3",
+ "team_number": 7971,
+ "intrinsics": [
+  892.089172,
+  0.0,
+  648.780701,
+  0.0,
+  892.362854,
+  342.340668,
+  0.0,
+  0.0,
+  1.0
+ ],
+ "dist_coeffs": [
+  -0.451178,
+  0.258187,
+  0.001071,
+  0.000017,
+  -0.085526
+ ],
+ "calibration_timestamp": 1358501967378322133,
+ "camera_id": "23-03"
+}
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-7971-4_2021-06-12_15-37-25.706564865.json b/y2023/vision/calib_files/calibration_pi-7971-4_2021-06-12_15-37-25.706564865.json
deleted file mode 100644
index f8f6b1f..0000000
--- a/y2023/vision/calib_files/calibration_pi-7971-4_2021-06-12_15-37-25.706564865.json
+++ /dev/null
@@ -1,43 +0,0 @@
-{
-  "node_name": "pi4",
-  "team_number": 7971,
-  "intrinsics": [
-    390.301514,
-    0,
-    356.104095,
-    0,
-    389.884491,
-    231.157303,
-    0,
-    0,
-    1
-  ],
-  "dist_coeffs": [
-    0.128595,
-    -0.229324,
-    -0.001145,
-    0.001602,
-    0.079774
-  ],
-  "fixed_extrinsics": {
-    "data": [
-      7.02428546843654e-17,
-      -0.5735764363510459,
-      0.8191520442889919,
-      -0.15239999999999998,
-      1,
-      1.2246467991473532e-16,
-      0,
-      -0.17779999999999999,
-      -1.0031719290535249e-16,
-      0.8191520442889919,
-      0.5735764363510459,
-      0.0127,
-      0,
-      0,
-      0,
-      1
-    ]
-  },
-  "calibration_timestamp": 1623537445706564900
-}
diff --git a/y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_2013-01-18_09-39-42.039874176.json b/y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_2013-01-18_09-39-42.039874176.json
new file mode 100755
index 0000000..aa541b5
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_2013-01-18_09-39-42.039874176.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi4",
+ "team_number": 7971,
+ "intrinsics": [
+  890.071899,
+  0.0,
+  620.69519,
+  0.0,
+  890.307434,
+  365.158844,
+  0.0,
+  0.0,
+  1.0
+ ],
+ "dist_coeffs": [
+  -0.449088,
+  0.25594,
+  0.000415,
+  0.000142,
+  -0.084656
+ ],
+ "calibration_timestamp": 1358501982039874176,
+ "camera_id": "23-04"
+}
\ No newline at end of file