Adding intrinsic files for 971 robot (placeholders to start)
Name change to make_sd.sh to match current pi image
Changed camera_reader reference in logger config to make it only run on logger
Change-Id: I454d853eddfdc404a876d4bf672c5cd585639dbe
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/y2023/constants/7971.json b/y2023/constants/7971.json
index fcc58a3..c79d87c 100644
--- a/y2023/constants/7971.json
+++ b/y2023/constants/7971.json
@@ -1,17 +1,17 @@
{
"cameras": [
{
- "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-7971-1_cam-23-01_ext-2023-02-17.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-7971-2_cam-23-02_ext_2023-02-17.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-7971-3_cam-23-03_ext_2023-02-17.json' %}
},
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_2013-01-18_09-39-42.039874176.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_ext_2023-02-17.json' %}
}
],
"target_map": {% include 'y2023/vision/maps/target_map.json' %}
-}
\ No newline at end of file
+}
diff --git a/y2023/constants/971.json b/y2023/constants/971.json
new file mode 100644
index 0000000..a4413cb
--- /dev/null
+++ b/y2023/constants/971.json
@@ -0,0 +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-971-2_cam-23-99_000000.json' %}
+ },
+ {
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-3_cam-23-99_000000.json' %}
+ },
+ {
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-4_cam-23-99_000000.json' %}
+ }
+ ]
+}
diff --git a/y2023/constants/BUILD b/y2023/constants/BUILD
index 9022cf7..9f8d1a4 100644
--- a/y2023/constants/BUILD
+++ b/y2023/constants/BUILD
@@ -20,6 +20,7 @@
src = "constants.jinja2.json",
includes = [
"7971.json",
+ "971.json",
"//y2023/vision/calib_files",
"//y2023/vision/maps",
],
diff --git a/y2023/constants/constants.jinja2.json b/y2023/constants/constants.jinja2.json
index 6a8cde9..2c8fce9 100644
--- a/y2023/constants/constants.jinja2.json
+++ b/y2023/constants/constants.jinja2.json
@@ -6,7 +6,7 @@
},
{
"team": 971,
- "data": {}
+ "data": {% include 'y2023/constants/971.json' %}
},
{
"team": 9971,
diff --git a/y2023/vision/calib_files/calibration_pi-2023-base-calib.json b/y2023/vision/calib_files/calibration_pi-2023-base-calib.json
index 747dcb7..d75e5ca 100755
--- a/y2023/vision/calib_files/calibration_pi-2023-base-calib.json
+++ b/y2023/vision/calib_files/calibration_pi-2023-base-calib.json
@@ -19,26 +19,6 @@
-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"
+ "camera_id": "23-00"
}
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
new file mode 100644
index 0000000..e7f1547
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-1_cam-23-01_ext-2023-02-17.json
@@ -0,0 +1,17 @@
+{
+ "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-7971-2_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
new file mode 100644
index 0000000..d777360
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-2_cam-23-02_ext_2023-02-17.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": [ -0.517888, 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-7971-3_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
new file mode 100644
index 0000000..fcea3a6
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-3_cam-23-03_ext_2023-02-17.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": [ 0.487978, -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-7971-4_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
new file mode 100644
index 0000000..a12eb9c
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_ext_2023-02-17.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": [ 0.999279, 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-971-1_cam-23-99_000000.json b/y2023/vision/calib_files/calibration_pi-971-1_cam-23-99_000000.json
new file mode 100644
index 0000000..4b41658
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-1_cam-23-99_000000.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi1",
+ "team_number": 971,
+ "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": "23-99"
+}
diff --git a/y2023/vision/calib_files/calibration_pi-971-2_cam-23-99_000000.json b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-99_000000.json
new file mode 100644
index 0000000..9257aee
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-99_000000.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi2",
+ "team_number": 971,
+ "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": "23-99"
+}
diff --git a/y2023/vision/calib_files/calibration_pi-971-3_cam-23-99_000000.json b/y2023/vision/calib_files/calibration_pi-971-3_cam-23-99_000000.json
new file mode 100644
index 0000000..03b2687
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-3_cam-23-99_000000.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi3",
+ "team_number": 971,
+ "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": "23-99"
+}
diff --git a/y2023/vision/calib_files/calibration_pi-971-4_cam-23-99_000000.json b/y2023/vision/calib_files/calibration_pi-971-4_cam-23-99_000000.json
new file mode 100644
index 0000000..4a0b632
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-4_cam-23-99_000000.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi4",
+ "team_number": 971,
+ "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": "23-99"
+}
diff --git a/y2023/y2023_logger.json b/y2023/y2023_logger.json
index 0f1e633..baebb51 100644
--- a/y2023/y2023_logger.json
+++ b/y2023/y2023_logger.json
@@ -466,7 +466,7 @@
]
},
{
- "name": "camera_reader",
+ "name": "logger_camera_reader",
"executable_name": "camera_reader",
"args": ["--enable_ftrace", "--send_downsized_images"],
"nodes": [