Updated extrinsic calibration for 9971 cameras 1, 3, 4
Camera 2 optimization not working, so will try to get this working or collect a
new log
Change-Id: Idf8faa256d8899f8afbe7c42e8a5920ab38a1f63
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/y2023/constants/9971.json b/y2023/constants/9971.json
index 743db03..b21c012 100644
--- a/y2023/constants/9971.json
+++ b/y2023/constants/9971.json
@@ -1,16 +1,16 @@
{
"cameras": [
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-9971-1_cam-23-09_ext_from971_2023-02-23.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-9971-1_cam-23-09_ext_2023-03-05.json' %}
},
{
"calibration": {% include 'y2023/vision/calib_files/calibration_pi-9971-2_cam-23-10_ext_from971_2023-02-23.json' %}
},
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-9971-3_cam-23-11_ext_from971_2023-02-23.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-9971-3_cam-23-11_ext_2023-03-05.json' %}
},
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-9971-4_cam-23-12_ext_from971_2023-02-23.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-9971-4_cam-23-12_ext_2023-03-05.json' %}
}
],
"target_map": {% include 'y2023/vision/maps/target_map.json' %},
diff --git a/y2023/vision/calib_files/calibration_pi-9971-1_cam-23-09_ext_2023-03-05.json b/y2023/vision/calib_files/calibration_pi-9971-1_cam-23-09_ext_2023-03-05.json
new file mode 100644
index 0000000..c79f7d3
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-9971-1_cam-23-09_ext_2023-03-05.json
@@ -0,0 +1 @@
+{ "node_name": "pi1", "team_number": 9971, "intrinsics": [ 893.617798, 0.0, 612.44397, 0.0, 893.193115, 375.196381, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ -0.483961, 0.220781, 0.84678, 0.176109, 0.868846, 0.005849, 0.495048, -0.191149, 0.104344, 0.975306, -0.194656, 0.550508, 0.0, 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
diff --git a/y2023/vision/calib_files/calibration_pi-9971-1_cam-23-09_ext_from971_2023-02-23.json b/y2023/vision/calib_files/calibration_pi-9971-1_cam-23-09_ext_from971_2023-02-23.json
deleted file mode 100644
index b6e0def..0000000
--- a/y2023/vision/calib_files/calibration_pi-9971-1_cam-23-09_ext_from971_2023-02-23.json
+++ /dev/null
@@ -1,25 +0,0 @@
-{
- "node_name": "pi1",
- "team_number": 9971,
- "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
- ],
- "fixed_extrinsics": { "data": [ -0.487722, 0.222354, 0.844207, 0.025116, 0.864934, -0.008067, 0.501821, -0.246003, 0.118392, 0.974933, -0.188387, 0.532497, 0.0, 0.0, 0.0, 1.0 ] },
- "calibration_timestamp": 1358499779650270322,
- "camera_id": "23-09"
-}
diff --git a/y2023/vision/calib_files/calibration_pi-9971-3_cam-23-11_ext_2023-03-05.json b/y2023/vision/calib_files/calibration_pi-9971-3_cam-23-11_ext_2023-03-05.json
new file mode 100644
index 0000000..d4b8bd2
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-9971-3_cam-23-11_ext_2023-03-05.json
@@ -0,0 +1 @@
+{ "node_name": "pi3", "team_number": 9971, "intrinsics": [ 891.026001, 0.0, 620.086731, 0.0, 890.566895, 385.035126, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.503726, -0.160611, -0.848802, 0.064621, -0.857988, 0.021383, -0.513224, -0.195154, 0.100579, 0.986786, -0.127032, 0.653821, 0.0, 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" }
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-9971-3_cam-23-11_ext_from971_2023-02-23.json b/y2023/vision/calib_files/calibration_pi-9971-3_cam-23-11_ext_from971_2023-02-23.json
deleted file mode 100644
index ec4c69c..0000000
--- a/y2023/vision/calib_files/calibration_pi-9971-3_cam-23-11_ext_from971_2023-02-23.json
+++ /dev/null
@@ -1,25 +0,0 @@
-{
- "node_name": "pi3",
- "team_number": 9971,
- "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
- ],
- "fixed_extrinsics": { "data": [ 0.492232, -0.163335, -0.855002, 0.020122, -0.866067, 0.006706, -0.499883, -0.174518, 0.087382, 0.986548, -0.138158, 0.645307, 0.0, 0.0, 0.0, 1.0 ] },
- "calibration_timestamp": 1358503290177115986,
- "camera_id": "23-11"
-}
diff --git a/y2023/vision/calib_files/calibration_pi-9971-4_cam-23-12_ext_2023-03-05.json b/y2023/vision/calib_files/calibration_pi-9971-4_cam-23-12_ext_2023-03-05.json
new file mode 100644
index 0000000..7ea2f6d
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-9971-4_cam-23-12_ext_2023-03-05.json
@@ -0,0 +1 @@
+{ "node_name": "pi4", "team_number": 9971, "intrinsics": [ 891.127197, 0.0, 640.291321, 0.0, 891.176453, 359.578705, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ -0.845241, -0.169204, -0.506891, 0.008046, -0.511496, -0.018479, 0.859087, -0.243442, -0.154727, 0.985408, -0.070928, 0.69704, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.452948, 0.262567, 0.00088, -0.000253, -0.089368 ], "calibration_timestamp": 1358499579812698894, "camera_id": "23-12" }
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-9971-4_cam-23-12_ext_from971_2023-02-23.json b/y2023/vision/calib_files/calibration_pi-9971-4_cam-23-12_ext_from971_2023-02-23.json
deleted file mode 100644
index 3d0f566..0000000
--- a/y2023/vision/calib_files/calibration_pi-9971-4_cam-23-12_ext_from971_2023-02-23.json
+++ /dev/null
@@ -1,25 +0,0 @@
-{
- "node_name": "pi4",
- "team_number": 9971,
- "intrinsics": [
- 891.127197,
- 0.0,
- 640.291321,
- 0.0,
- 891.176453,
- 359.578705,
- 0.0,
- 0.0,
- 1.0
- ],
- "dist_coeffs": [
- -0.452948,
- 0.262567,
- 0.00088,
- -0.000253,
- -0.089368
- ],
- "fixed_extrinsics": { "data": [ -0.865915, -0.186983, -0.463928, -0.014873, -0.473362, 0.006652, 0.880843, -0.215738, -0.161617, 0.982341, -0.094271, 0.676433, 0.0, 0.0, 0.0, 1.0 ] },
- "calibration_timestamp": 1358499579812698894,
- "camera_id": "23-12"
-}