Update comp constants with new pixel dewarp
Since our dewarp now is with floats rather than int pixels, we will not
be rounding pixels. This will change the calibration results. So,
let's rerun it.
Change-Id: I847a4adc0c731f3dbbe95279a003da54efb57a88
diff --git a/y2019/vision/constants.cc b/y2019/vision/constants.cc
index 0fa8eda..860b867 100644
--- a/y2019/vision/constants.cc
+++ b/y2019/vision/constants.cc
@@ -61,12 +61,12 @@
CameraCalibration camera_6 = {
{
- -1.17595 / 180.0 * M_PI, 346.997, 0.987547 / 180.0 * M_PI,
+ -1.11982 / 180.0 * M_PI, 347.32, 1.04799 / 180.0 * M_PI,
},
{
- {{4.88124 * kInchesToMeters, 2.15528 * kInchesToMeters,
- 33.1686 * kInchesToMeters}},
- -12.0018 / 180.0 * M_PI,
+ {{4.84356 * kInchesToMeters, 2.12355 * kInchesToMeters,
+ 33.1812 * kInchesToMeters}},
+ -11.888 / 180.0 * M_PI,
},
{
6,
@@ -79,12 +79,12 @@
CameraCalibration camera_7 = {
{
- -2.30729 / 180.0 * M_PI, 339.894, 1.16684 / 180.0 * M_PI,
+ -2.21509 / 180.0 * M_PI, 328.2, 0.922133 / 180.0 * M_PI,
},
{
- {{3.62399 * kInchesToMeters, 3.94792 * kInchesToMeters,
- 33.3196 * kInchesToMeters}},
- 18.5828 / 180.0 * M_PI,
+ {{4.7585 * kInchesToMeters, 3.99542 * kInchesToMeters,
+ 33.1932 * kInchesToMeters}},
+ 19.2585 / 180.0 * M_PI,
},
{
7,
@@ -97,12 +97,12 @@
CameraCalibration camera_8 = {
{
- 37.0966 / 180.0 * M_PI, 339.997, 0.265968 / 180.0 * M_PI,
+ 37.1314 / 180.0 * M_PI, 340.763, -0.136505 / 180.0 * M_PI,
},
{
- {{3.53674 * kInchesToMeters, 5.25891 * kInchesToMeters,
- 12.6869 * kInchesToMeters}},
- 92.4773 / 180.0 * M_PI,
+ {{3.61159 * kInchesToMeters, 5.16559 * kInchesToMeters,
+ 12.6279 * kInchesToMeters}},
+ 92.78 / 180.0 * M_PI,
},
{
8,
@@ -115,12 +115,12 @@
CameraCalibration camera_9 = {
{
- 35.3461 / 180.0 * M_PI, 337.599, 3.34351 / 180.0 * M_PI,
+ 35.4057 / 180.0 * M_PI, 337.052, 3.57896 / 180.0 * M_PI,
},
{
- {{4.24216 * kInchesToMeters, -2.97032 * kInchesToMeters,
- 11.323 * kInchesToMeters}},
- -93.3026 / 180.0 * M_PI,
+ {{4.28266 * kInchesToMeters, -3.04674 * kInchesToMeters,
+ 11.4219 * kInchesToMeters}},
+ -93.3496 / 180.0 * M_PI,
},
{
9,
@@ -133,12 +133,12 @@
CameraCalibration camera_10 = {
{
- -0.165199 / 180.0 * M_PI, 340.666, 0.596842 / 180.0 * M_PI,
+ -0.263033 / 180.0 * M_PI, 347.579, 0.213753 / 180.0 * M_PI,
},
{
- {{-5.23103 * kInchesToMeters, 2.96098 * kInchesToMeters,
- 33.2867 * kInchesToMeters}},
- 182.121 / 180.0 * M_PI,
+ {{-4.71537 * kInchesToMeters, 2.87784 * kInchesToMeters,
+ 33.3979 * kInchesToMeters}},
+ 182.17 / 180.0 * M_PI,
},
{
10,