Add extrinsic calibration constants for 7971
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I78fde4c638e327bf5d3c2bf1ba1a0937d6b2d033
diff --git a/y2024/constants/7971.json b/y2024/constants/7971.json
index 0d1742d..be70754 100644
--- a/y2024/constants/7971.json
+++ b/y2024/constants/7971.json
@@ -11,13 +11,13 @@
"calibration": {% include 'y2024/constants/calib_files/calibration_imu-7971-0_cam-24-01_2024-03-02_19-44-12.098903651.json' %}
},
{
- "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-7971-1_cam-24-02_2024-03-02_19-44-17.608531123.json' %}
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin-7971-1-1_cam-24-02_2024-03-02_20-09-18.022901293.json' %}
},
{
- "calibration": {% include 'y2024/constants/calib_files/calibration_imu-7971-1_cam-24-03_2024-03-02_19-43-59.570542368.json' %}
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin-7971-c-1_cam-24-03_2024-03-02_20-09-18.016217514.json' %}
},
{
- "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-7971-0_cam-24-04_2024-03-02_19-44-22.101331600.json' %}
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin-7971-1-0_cam-24-04_2024-03-02_20-09-18.016860291.json' %}
}
],
"robot": {
diff --git a/y2024/constants/calib_files/calibration_orin1-7971-0_cam-24-04_2024-03-02_19-44-22.101331600.json b/y2024/constants/calib_files/calibration_orin-7971-1-0_cam-24-04_2024-03-02_20-09-18.016860291.json
similarity index 62%
rename from y2024/constants/calib_files/calibration_orin1-7971-0_cam-24-04_2024-03-02_19-44-22.101331600.json
rename to y2024/constants/calib_files/calibration_orin-7971-1-0_cam-24-04_2024-03-02_20-09-18.016860291.json
index 1bca507..d60cc2a 100755
--- a/y2024/constants/calib_files/calibration_orin1-7971-0_cam-24-04_2024-03-02_19-44-22.101331600.json
+++ b/y2024/constants/calib_files/calibration_orin-7971-1-0_cam-24-04_2024-03-02_20-09-18.016860291.json
@@ -14,18 +14,18 @@
],
"fixed_extrinsics": {
"data": [
- -1.0,
- -0.0,
- 0.0,
- -0.131849,
- 0.0,
- -0.0,
- -1.0,
- -0.403057,
- 0.0,
- -1.0,
- 0.0,
- -0.05456,
+ -0.845268,
+ 0.031126,
+ 0.533435,
+ 0.494822,
+ -0.525295,
+ 0.134521,
+ -0.84022,
+ -1.212857,
+ -0.097911,
+ -0.990422,
+ -0.097356,
+ -0.319412,
0.0,
0.0,
0.0,
@@ -39,7 +39,7 @@
0.000099,
-0.005468
],
- "calibration_timestamp": 1707367522787382400,
+ "calibration_timestamp": 1709438958016860291,
"camera_id": "24-04",
"camera_number": 0
}
\ No newline at end of file
diff --git a/y2024/constants/calib_files/calibration_orin1-7971-1_cam-24-02_2024-03-02_19-44-17.608531123.json b/y2024/constants/calib_files/calibration_orin-7971-1-1_cam-24-02_2024-03-02_20-09-18.022901293.json
similarity index 63%
rename from y2024/constants/calib_files/calibration_orin1-7971-1_cam-24-02_2024-03-02_19-44-17.608531123.json
rename to y2024/constants/calib_files/calibration_orin-7971-1-1_cam-24-02_2024-03-02_20-09-18.022901293.json
index 941f3bb..ed7b2f3 100755
--- a/y2024/constants/calib_files/calibration_orin1-7971-1_cam-24-02_2024-03-02_19-44-17.608531123.json
+++ b/y2024/constants/calib_files/calibration_orin-7971-1-1_cam-24-02_2024-03-02_20-09-18.022901293.json
@@ -14,18 +14,18 @@
],
"fixed_extrinsics": {
"data": [
- -0.5,
- -0.0,
- -0.866025,
- -0.177348,
- 0.866025,
- -0.0,
- -0.5,
- -0.273642,
- 0.0,
- -1.0,
- 0.0,
- -0.05456,
+ -0.07336,
+ 0.085699,
+ 0.993617,
+ 0.608349,
+ -0.989433,
+ 0.118683,
+ -0.083288,
+ -0.939084,
+ -0.125063,
+ -0.989227,
+ 0.076087,
+ -0.35071,
0.0,
0.0,
0.0,
@@ -39,7 +39,7 @@
0.000015,
-0.005636
],
- "calibration_timestamp": 1707365492368359264,
+ "calibration_timestamp": 1709438958022901293,
"camera_id": "24-02",
"camera_number": 1
}
\ No newline at end of file
diff --git a/y2024/constants/calib_files/calibration_imu-7971-1_cam-24-03_2024-03-02_19-43-59.570542368.json b/y2024/constants/calib_files/calibration_orin-7971-c-1_cam-24-03_2024-03-02_20-09-18.016217514.json
similarity index 63%
rename from y2024/constants/calib_files/calibration_imu-7971-1_cam-24-03_2024-03-02_19-43-59.570542368.json
rename to y2024/constants/calib_files/calibration_orin-7971-c-1_cam-24-03_2024-03-02_20-09-18.016217514.json
index 0c83250..c0847a8 100755
--- a/y2024/constants/calib_files/calibration_imu-7971-1_cam-24-03_2024-03-02_19-43-59.570542368.json
+++ b/y2024/constants/calib_files/calibration_orin-7971-c-1_cam-24-03_2024-03-02_20-09-18.016217514.json
@@ -14,18 +14,18 @@
],
"fixed_extrinsics": {
"data": [
- 0.5,
- -0.0,
- -0.866025,
- -0.177348,
- 0.866025,
- 0.0,
- 0.5,
- -0.08443,
- 0.0,
- -1.0,
- 0.0,
- -0.05456,
+ 0.646787,
+ 0.04307,
+ 0.761453,
+ 0.280984,
+ -0.762291,
+ 0.067995,
+ 0.643653,
+ -0.238549,
+ -0.024053,
+ -0.996756,
+ 0.07681,
+ -0.200534,
0.0,
0.0,
0.0,
@@ -39,7 +39,7 @@
-0.000061,
-0.00879
],
- "calibration_timestamp": 1707367234928600992,
+ "calibration_timestamp": 1709438958016217514,
"camera_id": "24-03",
"camera_number": 1
}
\ No newline at end of file