Updating robot extrinsics and /orin1/camera0 intrinsics
From data collection at EPA on 3/17/2024
Includes updated intrinsics for /orin1/camera0
Also, cleaned out old calibration files and renamed cam-24-08 to remove
sub-second timestamp, which we no longer use
Change-Id: I8d60b2b4f917293a16187f23ca21b7e1c82405f7
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/y2024/constants/971.json b/y2024/constants/971.json
index 974fb60..b8fca80 100644
--- a/y2024/constants/971.json
+++ b/y2024/constants/971.json
@@ -8,16 +8,16 @@
{
"cameras": [
{
- "calibration": {% include 'y2024/constants/calib_files/calibration_orin-971-c-1_cam-24-05_2024-03-08_17-16-02.325066070.json' %}
+ "calibration": {% include 'y2024/constants/calib_files/calibration_imu-971-1_cam-24-05_2024-03-17_21-52-58.json' %}
},
{
- "calibration": {% include 'y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-06_2024-03-08_17-16-02.325390283.json' %}
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-971-0_cam-24-06_2024-03-17_21-52-58.json' %}
},
{
- "calibration": {% include 'y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-07_2024-03-08_17-16-02.325267121.json' %}
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin1-971-1_cam-24-07_2024-03-17_21-52-58.json' %}
},
{
- "calibration": {% include 'y2024/constants/calib_files/calibration_imu-971-1_cam-24-08_2024-03-01_11-02-11.982641320.json' %}
+ "calibration": {% include 'y2024/constants/calib_files/calibration_imu-971-0_cam-24-08_2024-03-01_11-02-11.json' %}
}
],
"robot": {
diff --git a/y2024/constants/calib_files/calibration_imu-971-1_cam-24-08_2024-03-01_11-02-11.982641320.json b/y2024/constants/calib_files/calibration_imu-971-0_cam-24-08_2024-03-01_11-02-11.json
similarity index 100%
rename from y2024/constants/calib_files/calibration_imu-971-1_cam-24-08_2024-03-01_11-02-11.982641320.json
rename to y2024/constants/calib_files/calibration_imu-971-0_cam-24-08_2024-03-01_11-02-11.json
diff --git a/y2024/constants/calib_files/calibration_orin-971-c-1_cam-24-05_2024-03-08_17-16-02.325066070.json b/y2024/constants/calib_files/calibration_imu-971-1_cam-24-05_2024-03-17_21-52-58.json
similarity index 65%
rename from y2024/constants/calib_files/calibration_orin-971-c-1_cam-24-05_2024-03-08_17-16-02.325066070.json
rename to y2024/constants/calib_files/calibration_imu-971-1_cam-24-05_2024-03-17_21-52-58.json
index c1d4e60..8e8b1a0 100755
--- a/y2024/constants/calib_files/calibration_orin-971-c-1_cam-24-05_2024-03-08_17-16-02.325066070.json
+++ b/y2024/constants/calib_files/calibration_imu-971-1_cam-24-05_2024-03-17_21-52-58.json
@@ -14,18 +14,18 @@
],
"fixed_extrinsics": {
"data": [
- 0.999556,
- -0.026613,
- 0.013428,
- 0.146979,
- -0.006922,
- 0.230925,
- 0.972947,
- 0.30388,
- -0.028994,
- -0.972608,
- 0.230638,
- 0.32572,
+ 0.999298,
+ -0.037458,
+ 0.000597,
+ 0.13845,
+ 0.00805,
+ 0.230258,
+ 0.973096,
+ 0.328324,
+ -0.036588,
+ -0.972409,
+ 0.230398,
+ 0.313802,
0.0,
0.0,
0.0,
@@ -39,7 +39,7 @@
-0.000078,
-0.008004
],
- "calibration_timestamp": 1709946962325066070,
+ "calibration_timestamp": 1710737578848658152,
"camera_id": "24-05",
"camera_number": 1,
"reprojection_error": 1.058851
diff --git a/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-06_2024-03-08_17-16-02.325390283.json b/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-06_2024-03-08_17-16-02.325390283.json
deleted file mode 100755
index 48da468..0000000
--- a/y2024/constants/calib_files/calibration_orin-971-1-0_cam-24-06_2024-03-08_17-16-02.325390283.json
+++ /dev/null
@@ -1,46 +0,0 @@
-{
- "node_name": "orin1",
- "team_number": 971,
- "intrinsics": [
- 648.644104,
- 0.0,
- 755.677979,
- 0.0,
- 648.522644,
- 597.744812,
- 0.0,
- 0.0,
- 1.0
- ],
- "fixed_extrinsics": {
- "data": [
- -0.997807,
- 0.015704,
- -0.064302,
- 0.134715,
- 0.058111,
- -0.25731,
- -0.96458,
- -0.273849,
- -0.031694,
- -0.966201,
- 0.255833,
- 0.295681,
- 0.0,
- 0.0,
- 0.0,
- 1.0
- ]
- },
- "dist_coeffs": [
- -0.25182,
- 0.063137,
- 0.000118,
- 0.000005,
- -0.006342
- ],
- "calibration_timestamp": 1709946962325390283,
- "camera_id": "24-06",
- "camera_number": 0,
- "reprojection_error": 1.344104
-}
\ No newline at end of file
diff --git a/y2024/constants/calib_files/calibration_orin1-971-0_cam-24-06_2024-03-17_21-52-58.json b/y2024/constants/calib_files/calibration_orin1-971-0_cam-24-06_2024-03-17_21-52-58.json
new file mode 100755
index 0000000..56961e0
--- /dev/null
+++ b/y2024/constants/calib_files/calibration_orin1-971-0_cam-24-06_2024-03-17_21-52-58.json
@@ -0,0 +1,46 @@
+{
+ "node_name": "orin1",
+ "team_number": 971,
+ "intrinsics": [
+ 647.96582,
+ 0.0,
+ 755.529907,
+ 0.0,
+ 647.512146,
+ 585.378479,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "fixed_extrinsics": {
+ "data": [
+ -0.999075,
+ -0.02262,
+ -0.036586,
+ 0.15129,
+ 0.040353,
+ -0.198353,
+ -0.9793,
+ -0.217666,
+ 0.014895,
+ -0.97987,
+ 0.199082,
+ 0.26798,
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ },
+ "dist_coeffs": [
+ -0.260101,
+ 0.072815,
+ -0.000107,
+ 0.000376,
+ -0.009155
+ ],
+ "calibration_timestamp": 2328053993530848,
+ "camera_id": "24-06",
+ "camera_number": 0,
+ "reprojection_error": 2.574085
+}
diff --git a/y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-07_2024-03-08_17-16-02.325267121.json b/y2024/constants/calib_files/calibration_orin1-971-1_cam-24-07_2024-03-17_21-52-58.json
similarity index 65%
rename from y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-07_2024-03-08_17-16-02.325267121.json
rename to y2024/constants/calib_files/calibration_orin1-971-1_cam-24-07_2024-03-17_21-52-58.json
index 56072d4..1412d3e 100755
--- a/y2024/constants/calib_files/calibration_orin-971-1-1_cam-24-07_2024-03-08_17-16-02.325267121.json
+++ b/y2024/constants/calib_files/calibration_orin1-971-1_cam-24-07_2024-03-17_21-52-58.json
@@ -14,18 +14,18 @@
],
"fixed_extrinsics": {
"data": [
- 0.016995,
- 0.002328,
- 0.999853,
- 0.35278,
- 0.999839,
- -0.005785,
- -0.016981,
- 0.237526,
- 0.005745,
- 0.999981,
- -0.002426,
- 0.387276,
+ 0.00834,
+ 0.006439,
+ 0.999945,
+ 0.38743,
+ 0.999567,
+ -0.028281,
+ -0.008154,
+ 0.296717,
+ 0.028227,
+ 0.999579,
+ -0.006672,
+ 0.360483,
0.0,
0.0,
0.0,
@@ -39,7 +39,7 @@
0.000016,
-0.005638
],
- "calibration_timestamp": 1709946962325267121,
+ "calibration_timestamp": 1710737578849179056,
"camera_id": "24-07",
"camera_number": 1,
"reprojection_error": 1.362672