Add CAD base extrinsics for box of orins
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I1d25fcc04466c5d0516c3cd0f630d84bd20fbe7d
diff --git a/y2024/constants/7971.json b/y2024/constants/7971.json
index d46daba..0d1742d 100644
--- a/y2024/constants/7971.json
+++ b/y2024/constants/7971.json
@@ -8,16 +8,16 @@
{
"cameras": [
{
- "calibration": {% include 'y2024/constants/calib_files/calibration_orin-7971-2-0_cam-24-01_2024-02-07_20-11-35.566609408.json' %}
+ "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_orin-7971-1-1_cam-24-02_2024-02-07_20-11-32.368359264.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-7971-2-1_cam-24-03_2024-02-07_20-40-34.928600992.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-7971-1-0_cam-24-04_2024-02-07_20-45-22.787382400.json' %}
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-7971-0_cam-24-04_2024-03-02_19-44-22.101331600.json' %}
}
],
"robot": {
diff --git a/y2024/constants/calib_files/calibration_orin-7971-2-0_cam-24-01_2024-02-07_20-11-35.566609408.json b/y2024/constants/calib_files/calibration_imu-7971-0_cam-24-01_2024-03-02_19-44-12.098903651.json
similarity index 63%
rename from y2024/constants/calib_files/calibration_orin-7971-2-0_cam-24-01_2024-02-07_20-11-35.566609408.json
rename to y2024/constants/calib_files/calibration_imu-7971-0_cam-24-01_2024-03-02_19-44-12.098903651.json
index c68e857..13301a0 100755
--- a/y2024/constants/calib_files/calibration_orin-7971-2-0_cam-24-01_2024-02-07_20-11-35.566609408.json
+++ b/y2024/constants/calib_files/calibration_imu-7971-0_cam-24-01_2024-03-02_19-44-12.098903651.json
@@ -12,6 +12,26 @@
0.0,
1.0
],
+ "fixed_extrinsics": {
+ "data": [
+ 1.0,
+ -0.0,
+ 0.0,
+ -0.131843,
+ 0.0,
+ 0.0,
+ 1.0,
+ 0.061756,
+ -0.0,
+ -1.0,
+ 0.0,
+ -0.05456,
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ },
"dist_coeffs": [
-0.249077,
0.063132,
@@ -22,4 +42,4 @@
"calibration_timestamp": 1707365495566609408,
"camera_id": "24-01",
"camera_number": 0
-}
+}
\ No newline at end of file
diff --git a/y2024/constants/calib_files/calibration_orin-7971-2-1_cam-24-03_2024-02-07_20-40-34.928600992.json b/y2024/constants/calib_files/calibration_imu-7971-1_cam-24-03_2024-03-02_19-43-59.570542368.json
similarity index 62%
rename from y2024/constants/calib_files/calibration_orin-7971-2-1_cam-24-03_2024-02-07_20-40-34.928600992.json
rename to y2024/constants/calib_files/calibration_imu-7971-1_cam-24-03_2024-03-02_19-43-59.570542368.json
index 2a0aa00..0c83250 100755
--- a/y2024/constants/calib_files/calibration_orin-7971-2-1_cam-24-03_2024-02-07_20-40-34.928600992.json
+++ b/y2024/constants/calib_files/calibration_imu-7971-1_cam-24-03_2024-03-02_19-43-59.570542368.json
@@ -12,6 +12,26 @@
0.0,
1.0
],
+ "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,
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ },
"dist_coeffs": [
-0.258663,
0.071646,
@@ -22,4 +42,4 @@
"calibration_timestamp": 1707367234928600992,
"camera_id": "24-03",
"camera_number": 1
-}
+}
\ No newline at end of file
diff --git a/y2024/constants/calib_files/calibration_orin-7971-1-0_cam-24-04_2024-02-07_20-45-22.787382400.json b/y2024/constants/calib_files/calibration_orin1-7971-0_cam-24-04_2024-03-02_19-44-22.101331600.json
similarity index 63%
rename from y2024/constants/calib_files/calibration_orin-7971-1-0_cam-24-04_2024-02-07_20-45-22.787382400.json
rename to y2024/constants/calib_files/calibration_orin1-7971-0_cam-24-04_2024-03-02_19-44-22.101331600.json
index 47d9435..1bca507 100755
--- a/y2024/constants/calib_files/calibration_orin-7971-1-0_cam-24-04_2024-02-07_20-45-22.787382400.json
+++ b/y2024/constants/calib_files/calibration_orin1-7971-0_cam-24-04_2024-03-02_19-44-22.101331600.json
@@ -12,6 +12,26 @@
0.0,
1.0
],
+ "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,
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ },
"dist_coeffs": [
-0.239969,
0.055889,
@@ -22,4 +42,4 @@
"calibration_timestamp": 1707367522787382400,
"camera_id": "24-04",
"camera_number": 0
-}
+}
\ No newline at end of file
diff --git a/y2024/constants/calib_files/calibration_orin-7971-1-1_cam-24-02_2024-02-07_20-11-32.368359264.json b/y2024/constants/calib_files/calibration_orin1-7971-1_cam-24-02_2024-03-02_19-44-17.608531123.json
similarity index 62%
rename from y2024/constants/calib_files/calibration_orin-7971-1-1_cam-24-02_2024-02-07_20-11-32.368359264.json
rename to y2024/constants/calib_files/calibration_orin1-7971-1_cam-24-02_2024-03-02_19-44-17.608531123.json
index d5d2d61..941f3bb 100755
--- a/y2024/constants/calib_files/calibration_orin-7971-1-1_cam-24-02_2024-02-07_20-11-32.368359264.json
+++ b/y2024/constants/calib_files/calibration_orin1-7971-1_cam-24-02_2024-03-02_19-44-17.608531123.json
@@ -12,6 +12,26 @@
0.0,
1.0
],
+ "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,
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ },
"dist_coeffs": [
-0.242432,
0.057303,