Merge "Add extend collision avoidance"
diff --git a/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-06_1970-01-05_17-40-29.245444672.json b/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-06_1970-01-05_17-40-29.245444672.json
deleted file mode 100755
index 099b352..0000000
--- a/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-06_1970-01-05_17-40-29.245444672.json
+++ /dev/null
@@ -1,49 +0,0 @@
-{
- "node_name": "orin1",
- "team_number": 971,
- "intrinsics": [
- 648.644104,
- 0.0,
- 755.677979,
- 0.0,
- 648.522644,
- 597.744812,
- 0.0,
- 0.0,
- 1.0
- ],
- "dist_coeffs": [
- -0.25182,
- 0.063137,
- 0.000118,
- 0.000005,
- -0.006342
- ],
- "calibration_timestamp": 409229245444672,
- "camera_id": "24-06",
- "camera_number": 0,
- "fixed_extrinsics": {
- "data": [
- 0.0,
- 0.0,
- 1.0,
- 1.0,
-
- -1.0,
- 0.0,
- 0.0,
- 0.0,
-
- 0.0,
- -1.0,
- 0.0,
- 0.0,
-
- 0.0,
- 0.0,
- 0.0,
- 1.0
- ]
- },
- "reprojection_error": 1.344104
-}
diff --git a/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-07_2024-02-24_19-52-27.338466592.json b/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-07_2024-02-24_19-52-27.338466592.json
deleted file mode 100755
index 52bfb77..0000000
--- a/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-07_2024-02-24_19-52-27.338466592.json
+++ /dev/null
@@ -1,49 +0,0 @@
-{
- "node_name": "orin1",
- "team_number": 971,
- "intrinsics": [
- 647.822815,
- 0.0,
- 715.37616,
- 0.0,
- 647.799316,
- 494.638641,
- 0.0,
- 0.0,
- 1.0
- ],
- "dist_coeffs": [
- -0.2423,
- 0.057169,
- 0.000302,
- 0.000016,
- -0.005638
- ],
- "calibration_timestamp": 1708833147338466592,
- "camera_id": "24-07",
- "camera_number": 1,
- "fixed_extrinsics": {
- "data": [
- 0.0,
- 0.0,
- 1.0,
- 0.0,
-
- -1.0,
- 0.0,
- 0.0,
- 0.0,
-
- 0.0,
- -1.0,
- 0.0,
- 0.0,
-
- 0.0,
- 0.0,
- 0.0,
- 1.0
- ]
- },
- "reprojection_error": 1.362672
-}
diff --git a/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-08_2024-02-24_16-21-54.420797344.json b/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-08_2024-02-24_16-21-54.420797344.json
deleted file mode 100755
index b717b37..0000000
--- a/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-08_2024-02-24_16-21-54.420797344.json
+++ /dev/null
@@ -1,49 +0,0 @@
-{
- "node_name": "imu",
- "team_number": 971,
- "intrinsics": [
- 645.963562,
- 0.0,
- 751.21698,
- 0.0,
- 645.34906,
- 605.204102,
- 0.0,
- 0.0,
- 1.0
- ],
- "dist_coeffs": [
- -0.248733,
- 0.06221,
- -0.000901,
- 0.000128,
- -0.006595
- ],
- "calibration_timestamp": 1708820514420797344,
- "camera_id": "24-08",
- "camera_number": 0,
- "reprojection_error": 1.591953,
- "fixed_extrinsics": {
- "data": [
- 0.0,
- 0.0,
- 1.0,
- 1.0,
-
- -1.0,
- 0.0,
- 0.0,
- 0.0,
-
- 0.0,
- -1.0,
- 0.0,
- 0.0,
-
- 0.0,
- 0.0,
- 0.0,
- 1.0
- ]
- }
-}
diff --git a/y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-05_1970-01-05_17-40-27.793683328.json b/y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-05_1970-01-05_17-40-27.793683328.json
deleted file mode 100755
index f1a1745..0000000
--- a/y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-05_1970-01-05_17-40-27.793683328.json
+++ /dev/null
@@ -1,49 +0,0 @@
-{
- "node_name": "imu",
- "team_number": 971,
- "intrinsics": [
- 648.360168,
- 0.0,
- 729.818665,
- 0.0,
- 648.210327,
- 641.988037,
- 0.0,
- 0.0,
- 1.0
- ],
- "dist_coeffs": [
- -0.255473,
- 0.068444,
- 0.000028,
- -0.000078,
- -0.008004
- ],
- "calibration_timestamp": 409227793683328,
- "camera_id": "24-05",
- "camera_number": 1,
- "fixed_extrinsics": {
- "data": [
- 0.0,
- 0.0,
- 1.0,
- 1.0,
-
- -1.0,
- 0.0,
- 0.0,
- 0.0,
-
- 0.0,
- -1.0,
- 0.0,
- 0.0,
-
- 0.0,
- 0.0,
- 0.0,
- 1.0
- ]
- },
- "reprojection_error": 1.058851
-}
diff --git a/y2024/y2024_roborio.json b/y2024/y2024_roborio.json
index 3743ce6..5ba882a 100644
--- a/y2024/y2024_roborio.json
+++ b/y2024/y2024_roborio.json
@@ -128,8 +128,7 @@
"source_node": "roborio",
"frequency": 400,
"max_size": 2048,
- "num_senders": 2,
- "max_size": 1504
+ "num_senders": 2
},
{
"name": "/superstructure",