Update 2nd robot extrinsics
Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I702e8440cbc98351d452560bd55b88dfb7c7931b
diff --git a/y2022/vision/camera_definition.py b/y2022/vision/camera_definition.py
index 911418b..35b1161 100644
--- a/y2022/vision/camera_definition.py
+++ b/y2022/vision/camera_definition.py
@@ -116,14 +116,17 @@
T = np.array([-10.25 * 0.0254, -5.0 * 0.0254, 27.5 * 0.0254])
elif team_number == 9971:
if pi_number == "pi1":
- camera_yaw = 178.0 * np.pi / 180.0
- T = np.array([0.0 * 0.0254, 8.5 * 0.0254, 34.0 * 0.0254])
+ camera_yaw = 180.0 * np.pi / 180.0
+ T = np.array([-9.5 * 0.0254, 3.25 * 0.0254, 35.5 * 0.0254])
elif pi_number == "pi2":
camera_yaw = 0.0
- T = np.array([-9.0 * 0.0254, -3.5 * 0.0254, 35.5 * 0.0254])
+ T = np.array([-9.0 * 0.0254, -3.25 * 0.0254, 35.5 * 0.0254])
elif pi_number == "pi3":
camera_yaw = 90.0 * np.pi / 180.0
- T = np.array([-8.0 * 0.0254, 3.0 * 0.0254, 32.0 * 0.0254])
+ T = np.array([-10.5 * 0.0254, -5.0 * 0.0254, 29.5 * 0.0254])
+ elif pi_number == "pi4":
+ camera_yaw = -90.0 * np.pi / 180.0
+ T = np.array([-10.5 * 0.0254, 5.0 * 0.0254, 28.0 * 0.0254])
else:
glog.fatal("Unknown team number for extrinsics")