Adding intrinsics for cameras 23-05 to 23-11 and extrinsics for 7971 (box of pis)
Change-Id: I096f42eb5db3d1292983a44449a2a06d21657805
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/y2023/constants/7971.json b/y2023/constants/7971.json
index c79d87c..d9bb4a0 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_cam-23-01_ext-2023-02-17.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-1_cam-23-01_ext_2023-02-19.json' %}
},
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-2_cam-23-02_ext_2023-02-17.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-2_cam-23-02_ext_2023-02-19.json' %}
},
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-3_cam-23-03_ext_2023-02-17.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-3_cam-23-03_ext_2023-02-19.json' %}
},
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_ext_2023-02-17.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_ext_2023-02-19.json' %}
}
],
"target_map": {% include 'y2023/vision/maps/target_map.json' %}
diff --git a/y2023/constants/971.json b/y2023/constants/971.json
index a4413cb..f00cc1c 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-23-99_000000.json' %}
+ "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-971-2_cam-23-99_000000.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-971-3_cam-23-99_000000.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-971-4_cam-23-99_000000.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-4_cam-23-08_2013-01-18_09-27-45.150551614.json' %}
}
]
}
diff --git a/y2023/vision/calib_files/calibration_pi-7971-1_cam-23-01_ext-2023-02-17.json b/y2023/vision/calib_files/calibration_pi-7971-1_cam-23-01_ext-2023-02-17.json
deleted file mode 100644
index e7f1547..0000000
--- a/y2023/vision/calib_files/calibration_pi-7971-1_cam-23-01_ext-2023-02-17.json
+++ /dev/null
@@ -1,17 +0,0 @@
-{
- "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
- ],
- "fixed_extrinsics": {
- "data": [
- -0.999441, -0.03192, -0.009977, 0.188208, 0.010139, -0.004928, -0.999936, -0.129908, 0.031869, -0.999478, 0.005249, 0.006629, 0.0, 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-7971-1_cam-23-01_ext_2023-02-19.json b/y2023/vision/calib_files/calibration_pi-7971-1_cam-23-01_ext_2023-02-19.json
new file mode 100644
index 0000000..3b1f3ee
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-1_cam-23-01_ext_2023-02-19.json
@@ -0,0 +1 @@
+{ "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 ], "fixed_extrinsics": { "data": [ -0.999824, -0.017701, -0.006142, 0.155002, 0.006183, -0.002255, -0.999978, -0.11871, 0.017687, -0.999841, 0.002364, 0.002099, 0.0, 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" }
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-7971-2_cam-23-02_ext_2023-02-17.json b/y2023/vision/calib_files/calibration_pi-7971-2_cam-23-02_ext_2023-02-17.json
deleted file mode 100644
index d777360..0000000
--- a/y2023/vision/calib_files/calibration_pi-7971-2_cam-23-02_ext_2023-02-17.json
+++ /dev/null
@@ -1 +0,0 @@
-{ "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 ], "fixed_extrinsics": { "data": [ -0.517888, 0.005116, 0.855433, 0.09136, -0.855436, -0.008526, -0.517839, 0.009474, 0.004644, -0.999951, 0.008792, -0.039537, 0.0, 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-7971-2_cam-23-02_ext_2023-02-19.json b/y2023/vision/calib_files/calibration_pi-7971-2_cam-23-02_ext_2023-02-19.json
new file mode 100644
index 0000000..addacf2
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-2_cam-23-02_ext_2023-02-19.json
@@ -0,0 +1 @@
+{ "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 ], "fixed_extrinsics": { "data": [ -0.513422, -0.00069, 0.858136, 0.132248, -0.858026, -0.015658, -0.513368, -0.002601, 0.013791, -0.999877, 0.007447, -0.001246, 0.0, 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_cam-23-03_ext_2023-02-17.json b/y2023/vision/calib_files/calibration_pi-7971-3_cam-23-03_ext_2023-02-17.json
deleted file mode 100644
index fcea3a6..0000000
--- a/y2023/vision/calib_files/calibration_pi-7971-3_cam-23-03_ext_2023-02-17.json
+++ /dev/null
@@ -1 +0,0 @@
-{ "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 ], "fixed_extrinsics": { "data": [ 0.487978, -0.004549, 0.872844, 0.132212, -0.872821, 0.006386, 0.487999, -0.015015, -0.007794, -0.999969, -0.000854, -0.031295, 0.0, 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-7971-3_cam-23-03_ext_2023-02-19.json b/y2023/vision/calib_files/calibration_pi-7971-3_cam-23-03_ext_2023-02-19.json
new file mode 100644
index 0000000..e2a5817
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-3_cam-23-03_ext_2023-02-19.json
@@ -0,0 +1 @@
+{ "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 ], "fixed_extrinsics": { "data": [ 0.496784, 0.01435, 0.867756, 0.146101, -0.867856, 0.00168, 0.496813, 0.028557, 0.005671, -0.999896, 0.013288, -0.01621, 0.0, 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_cam-23-04_ext_2023-02-17.json b/y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_ext_2023-02-17.json
deleted file mode 100644
index a12eb9c..0000000
--- a/y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_ext_2023-02-17.json
+++ /dev/null
@@ -1 +0,0 @@
-{ "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 ], "fixed_extrinsics": { "data": [ 0.999279, 0.020625, 0.031865, 0.2039, -0.031574, -0.014296, 0.999399, 0.133023, 0.021068, -0.999685, -0.013634, 0.000099, 0.0, 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
diff --git a/y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_ext_2023-02-19.json b/y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_ext_2023-02-19.json
new file mode 100644
index 0000000..a59f74f
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_ext_2023-02-19.json
@@ -0,0 +1 @@
+{ "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 ], "fixed_extrinsics": { "data": [ 0.999146, 0.018411, 0.036996, 0.186144, -0.036693, -0.016555, 0.999189, 0.153146, 0.019009, -0.999693, -0.015866, 0.010067, 0.0, 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
diff --git a/y2023/vision/calib_files/calibration_pi-971-1_cam-23-05_2013-01-18_09-38-22.915096335.json b/y2023/vision/calib_files/calibration_pi-971-1_cam-23-05_2013-01-18_09-38-22.915096335.json
new file mode 100755
index 0000000..3afee2e
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-1_cam-23-05_2013-01-18_09-38-22.915096335.json
@@ -0,0 +1,24 @@
+{
+ "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
+ ],
+ "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_2013-01-18_09-32-06.409252911.json b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_2013-01-18_09-32-06.409252911.json
new file mode 100755
index 0000000..47f1d30
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_2013-01-18_09-32-06.409252911.json
@@ -0,0 +1,24 @@
+{
+ "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
+ ],
+ "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-971-2_cam-23-11_2013-01-18_10-01-30.177115986.json b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-11_2013-01-18_10-01-30.177115986.json
new file mode 100755
index 0000000..1aa8ce6
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-11_2013-01-18_10-01-30.177115986.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi2",
+ "team_number": 971,
+ "intrinsics": [
+ 891.026001,
+ 0.0,
+ 620.086731,
+ 0.0,
+ 890.566895,
+ 385.035126,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ -0.448299,
+ 0.250123,
+ -0.00042,
+ -0.000127,
+ -0.078433
+ ],
+ "calibration_timestamp": 1358503290177115986,
+ "camera_id": "23-11"
+}
diff --git a/y2023/vision/calib_files/calibration_pi-971-3_cam-23-07_2013-01-18_09-11-56.768663953.json b/y2023/vision/calib_files/calibration_pi-971-3_cam-23-07_2013-01-18_09-11-56.768663953.json
new file mode 100755
index 0000000..fc78ef8
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-3_cam-23-07_2013-01-18_09-11-56.768663953.json
@@ -0,0 +1,24 @@
+{
+ "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
+ ],
+ "dist_coeffs": [
+ -0.454901,
+ 0.266778,
+ -0.000316,
+ -0.000469,
+ -0.091357
+ ],
+ "calibration_timestamp": 1358500316768663953,
+ "camera_id": "23-07"
+}
diff --git a/y2023/vision/calib_files/calibration_pi-971-3_cam-23-10_2013-01-18_10-02-40.377380613.json b/y2023/vision/calib_files/calibration_pi-971-3_cam-23-10_2013-01-18_10-02-40.377380613.json
new file mode 100755
index 0000000..e7367cc
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-3_cam-23-10_2013-01-18_10-02-40.377380613.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi3",
+ "team_number": 971,
+ "intrinsics": [
+ 894.002502,
+ 0.0,
+ 636.431335,
+ 0.0,
+ 893.723816,
+ 377.069672,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ -0.446659,
+ 0.244189,
+ 0.000632,
+ 0.000171,
+ -0.074849
+ ],
+ "calibration_timestamp": 1358503360377380613,
+ "camera_id": "23-10"
+}
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-971-4_cam-23-08_2013-01-18_09-27-45.150551614.json b/y2023/vision/calib_files/calibration_pi-971-4_cam-23-08_2013-01-18_09-27-45.150551614.json
new file mode 100755
index 0000000..5b92f75
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-4_cam-23-08_2013-01-18_09-27-45.150551614.json
@@ -0,0 +1,24 @@
+{
+ "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
+ ],
+ "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
diff --git a/y2023/vision/calib_files/calibration_pi-971-4_cam-23-09_2013-01-18_09-02-59.650270322.json b/y2023/vision/calib_files/calibration_pi-971-4_cam-23-09_2013-01-18_09-02-59.650270322.json
new file mode 100755
index 0000000..68c2b94
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-4_cam-23-09_2013-01-18_09-02-59.650270322.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi4",
+ "team_number": 971,
+ "intrinsics": [
+ 893.617798,
+ 0.0,
+ 612.44397,
+ 0.0,
+ 893.193115,
+ 375.196381,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ -0.443805,
+ 0.238734,
+ 0.000133,
+ 0.000448,
+ -0.071068
+ ],
+ "calibration_timestamp": 1358499779650270322,
+ "camera_id": "23-09"
+}
\ No newline at end of file