Commits

iorodeo committed 4e1f4b9

Went through calibration a second time. Added machine definition files for both
"acer only" and "blade" setups.

Comments (0)

Files changed (31)

cameras/calibrations/camera_1.yaml

 camera_matrix:
   rows: 3
   cols: 3
-  data: [883.319086, 0, 369.757177, 0, 883.455622, 232.346297, 0, 0, 1]
+  data: [877.887096, 0, 319.420589, 0, 873.374843, 244.699443, 0, 0, 1]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.374593, 0.163128, 0.000271, -0.000921, 0]
+  data: [-0.394133, 0.533355, 0.004398, 0.003076, 0]
 rectification_matrix:
   rows: 3
   cols: 3
 projection_matrix:
   rows: 3
   cols: 4
-  data: [833.453491, 0, 374.202337, 0, 0, 856.147095, 231.467208, 0, 0, 0, 1, 0]
+  data: [835.957581, 0, 320.150566, 0, 0, 846.864624, 245.409016, 0, 0, 0, 1, 0]
 

cameras/calibrations/camera_10.yaml

 camera_matrix:
   rows: 3
   cols: 3
-  data: [907.087747, 0, 363.779825, 0, 909.021661, 267.381629, 0, 0, 1]
+  data: [902.063049, 0, 356.772759, 0, 900.367754, 248.855304, 0, 0, 1]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.381142, 0.166215, -0.00121, -0.001288, 0]
+  data: [-0.378259, 0.219151, 0.000175, 0.000972, 0]
 rectification_matrix:
   rows: 3
   cols: 3
 projection_matrix:
   rows: 3
   cols: 4
-  data: [858.334656, 0, 367.298066, 0, 0, 880.994202, 268.111356, 0, 0, 0, 1, 0]
+  data: [854.945374, 0, 360.308871, 0, 0, 873.314392, 248.872111, 0, 0, 0, 1, 0]
 

cameras/calibrations/camera_11.yaml

 camera_matrix:
   rows: 3
   cols: 3
-  data: [893.863869, 0, 360.195731, 0, 892.547724, 272.066452, 0, 0, 1]
+  data: [885.538986, 0, 356.227984, 0, 884.166932, 239.861062, 0, 0, 1]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.379685, 0.215557, -0.002007, -0.001409, 0]
+  data: [-0.356361, 0.102576, -0.002499, 0.001151, 0]
 rectification_matrix:
   rows: 3
   cols: 3
 projection_matrix:
   rows: 3
   cols: 4
-  data: [846.229858, 0, 363.184776, 0, 0, 864.44519, 272.880533, 0, 0, 0, 1, 0]
+  data: [838.074036, 0, 360.102294, 0, 0, 857.729248, 238.80315, 0, 0, 0, 1, 0]
 

cameras/calibrations/camera_8.yaml

 camera_matrix:
   rows: 3
   cols: 3
-  data: [890.990024, 0, 349.305805, 0, 891.696419, 250.27795, 0, 0, 1]
+  data: [874.272989, 0, 342.442404, 0, 873.26574, 234.464719, 0, 0, 1]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.396916, 0.243842, 1.6e-05, 0.000164, 0]
+  data: [-0.399682, 0.29468, 0.001721, -0.002672, 0]
 rectification_matrix:
   rows: 3
   cols: 3
 projection_matrix:
   rows: 3
   cols: 4
-  data: [842.074463, 0, 352.012081, 0, 0, 863.428467, 250.378063, 0, 0, 0, 1, 0]
+  data: [826.368713, 0, 343.180716, 0, 0, 845.060791, 234.019012, 0, 0, 0, 1, 0]
 

cameras/calibrations/camera_9.yaml

 camera_matrix:
   rows: 3
   cols: 3
-  data: [890.225105, 0, 348.716449, 0, 891.30142, 204.7415, 0, 0, 1]
+  data: [873.509791, 0, 356.628659, 0, 872.50271, 262.025849, 0, 0, 1]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.484104, 0.922419, 0.004359, 0.001169, 0]
+  data: [-0.365483, 0.223182, 0.000959, 9.4e-05, 0]
 rectification_matrix:
   rows: 3
   cols: 3
 projection_matrix:
   rows: 3
   cols: 4
-  data: [843.608765, 0, 350.608682, 0, 0, 860.441528, 203.295375, 0, 0, 0, 1, 0]
+  data: [827.08313, 0, 359.82462, 0, 0, 845.086365, 262.944907, 0, 0, 0, 1, 0]
 

lighting/mightex_controllers.yaml

   channel_4:
     current: 200
     enabled: true
-  port: /dev/mightex-serial
+  port: /dev/mightex-serial-0
+
+vis_lighting_0:
+  channel_1:
+    current: 200
+    enabled: false
+  channel_2:
+    current: 200
+    enabled: false
+  channel_3:
+    current: 200
+    enabled: false
+  channel_4:
+    current: 200
+    enabled: false
+  port: /dev/mightex-serial-1
+
+vis_lighting_1:
+  channel_1:
+    current: 200
+    enabled: false
+  channel_2:
+    current: 200
+    enabled: false
+  channel_3:
+    current: 200
+    enabled: false
+  channel_4:
+    current: 200
+    enabled: false
+  port: /dev/mightex-serial-2
+
+vis_lighting_2:
+  channel_1:
+    current: 200
+    enabled: false
+  channel_2:
+    current: 200
+    enabled: false
+  channel_3:
+    current: 200
+    enabled: false
+  channel_4:
+    current: 200
+    enabled: false
+  port: /dev/mightex-serial-3
+
+vis_lighting_3:
+  channel_1:
+    current: 200
+    enabled: false
+  channel_2:
+    current: 200
+    enabled: false
+  channel_3:
+    current: 200
+    enabled: false
+  channel_4:
+    current: 200
+    enabled: false
+  port: /dev/mightex-serial-4
+
+vis_lighting_4:
+  channel_1:
+    current: 200
+    enabled: false
+  channel_2:
+    current: 200
+    enabled: false
+  channel_3:
+    current: 200
+    enabled: false
+  channel_4:
+    current: 200
+    enabled: false
+  port: /dev/mightex-serial-5
+Note, when changing the machine_def.yaml file you will need to run the
+following command:
+
+mct update_machine_def

machine/machine_def.yaml

 
 mct_slave1:
     address : tabby
-    mac     : c8:9c:dc:bf:db:73
+    mac     : 00:25:90:3d:35:7a
     iface   : eth1
 
 mct_slave2:
     address : manx
     mac     : c8:9c:dc:bf:dc:80 
     iface   : eth3
+
     

machine/machine_def.yaml.acer_only

+user: albert
+
+mct_master:
+    address   : felis
+    iface-ext : eth1 
+
+mct_slave1:
+    address : tabby
+    mac     : c8:9c:dc:bf:db:73
+    iface   : eth1
+
+mct_slave2:
+    address : calico
+    mac     : c8:9c:dc:bf:de:20
+    iface   : eth2
+
+mct_slave3:
+    address : manx
+    mac     : c8:9c:dc:bf:dc:80 
+    iface   : eth3
+    

machine/machine_def.yaml.bak

-user: albert
-
-mct_master:
-    address   : felis
-    iface-ext : eth0 
-
-mct_slave1:
-    address : tabby
-    mac     : 00:25:90:3d:35:7a
-    iface   : eth1
-
-mct_slave2:
-    address : calico
-    mac     : 54:04:a6:49:30:02 
-    iface   : eth2
-
-
-    

machine/machine_def.yaml.blade

+user: albert
+
+mct_master:
+    address   : felis
+    iface-ext : eth1 
+
+mct_slave1:
+    address : tabby
+    mac     : 00:25:90:3d:35:7a
+    iface   : eth1
+
+mct_slave2:
+    address : calico
+    mac     : c8:9c:dc:bf:de:20
+    iface   : eth2
+
+mct_slave3:
+    address : manx
+    mac     : c8:9c:dc:bf:dc:80 
+    iface   : eth3
+
+    

tracking_2d/homographies/camera_1.yaml

 rows: 3
 cols: 3
 data:
-- 0.0026842146180570126
-- -5.122849870531354e-06
-- -0.8448281288146973
-- -1.1214965525141452e-05
-- -0.00262046349234879
-- 0.9949328899383545
-- -1.727713788568508e-05
-- -1.1326742423989344e-06
+- 0.002648428548127413
+- 7.452381396433339e-05
+- -0.7514312863349915
+- 9.224849054589868e-05
+- -0.0026232919190078974
+- 1.0292948484420776
+- 1.1515121514094062e-05
+- -4.2545696487650275e-05
 - 1.0

tracking_2d/homographies/camera_10.yaml

 rows: 3
 cols: 3
 data:
-- -0.0026150851044803858
-- -4.469505074666813e-05
-- 1.0661274194717407
-- -4.4981901737628505e-05
-- 0.002557867905125022
-- -0.6314818263053894
-- -8.408494977629744e-06
-- -3.247621498303488e-05
+- -0.002620514715090394
+- -6.786826997995377e-05
+- 1.1266995668411255
+- -6.926900096004829e-05
+- 0.002561216941103339
+- -0.6734659671783447
+- -1.1747973985620774e-05
+- -1.596715628693346e-05
 - 1.0

tracking_2d/homographies/camera_11.yaml

 rows: 3
 cols: 3
 data:
-- -0.0026536949444562197
-- 6.776421651011333e-05
-- 1.1923894882202148
-- 7.749837095616385e-05
-- 0.0025909931864589453
-- -0.7690175175666809
-- -2.711915112740826e-05
-- -2.640108323248569e-05
+- -0.0026867189444601536
+- -3.548455788404681e-05
+- 1.095390796661377
+- -3.438226121943444e-05
+- 0.0026164918672293425
+- -0.8017225861549377
+- -2.483293974364642e-05
+- 1.265465652977582e-05
 - 1.0

tracking_2d/homographies/camera_12.yaml

 rows: 3
 cols: 3
 data:
-- 0.0004689614870585501
-- 0.002273041056469083
-- -0.40363234281539917
-- 0.0024439028929919004
-- -0.0006405782769434154
-- -0.4226067364215851
-- 0.00022193361655808985
-- -0.00031857716385275126
+- -7.49558093957603e-05
+- -0.0015092871617525816
+- 0.6790828704833984
+- -0.0015017961850389838
+- 7.14266425347887e-05
+- 0.7113659977912903
+- 6.761078839190304e-05
+- -5.5569664255017415e-05
 - 1.0

tracking_2d/homographies/camera_2.yaml

 rows: 3
 cols: 3
 data:
-- 0.0025787099730223417
-- 1.3619227502204012e-05
-- -0.5959717035293579
-- 1.2299776244617533e-05
-- -0.0025420738384127617
-- 1.0118328332901
-- -1.4992781871114857e-05
-- -3.438230851315893e-05
+- 0.0025731592904776335
+- -3.959215246140957e-05
+- -0.5904430747032166
+- -3.9660342736169696e-05
+- -0.002536412328481674
+- 1.0239192247390747
+- -1.5442463336512446e-05
+- -4.293369784136303e-05
 - 1.0

tracking_2d/homographies/camera_3.yaml

 rows: 3
 cols: 3
 data:
-- 0.0026274078991264105
-- -1.0415293871801623e-07
-- -0.776639461517334
-- 4.0193449990511e-07
-- -0.002582540502771735
-- 0.9154845476150513
-- -9.02013653103495e-06
-- -3.40738297381904e-05
+- 0.002638514619320631
+- 2.8239683160791174e-05
+- -0.754832923412323
+- 3.022234704985749e-05
+- -0.002590616699308157
+- 0.9209932684898376
+- 1.8414467604088713e-06
+- -3.527880471665412e-05
 - 1.0

tracking_2d/homographies/camera_4.yaml

 rows: 3
 cols: 3
 data:
-- 0.002643497195094824
-- 2.5120194550254382e-05
-- -0.7425845861434937
-- 3.2373784051742405e-05
-- -0.002611457370221615
-- 0.9410885572433472
-- -1.5093434740265366e-05
-- -6.593955185962841e-05
+- 0.002666997956112027
+- 4.421638368512504e-05
+- -0.6437221765518188
+- 6.458716234192252e-05
+- -0.0026211997028440237
+- 0.8274760246276855
+- -2.400707217020681e-06
+- -5.5926109780557454e-05
 - 1.0

tracking_2d/homographies/camera_5.yaml

 rows: 3
 cols: 3
 data:
-- 0.0027587073855102062
-- -1.657443863223307e-05
-- -0.5847471356391907
-- -1.7092597772716545e-05
-- -0.0027040850836783648
-- 0.9865871667861938
-- -1.6853409761097282e-05
-- -1.766889363352675e-05
+- 0.0027725149411708117
+- -7.440133049385622e-05
+- -0.5861571431159973
+- -8.245878416346386e-05
+- -0.002710639964789152
+- 0.9890117645263672
+- -1.842749406932853e-05
+- -1.822329750211793e-06
 - 1.0

tracking_2d/homographies/camera_7.yaml

 rows: 3
 cols: 3
 data:
-- -0.0028200012166053057
-- -5.204744593356736e-05
-- 1.0137526988983154
-- -5.457631777971983e-05
-- 0.0027534281834959984
-- -0.49153169989585876
-- 3.2341795304091647e-06
-- 3.290540917078033e-05
+- -0.002824134659022093
+- -5.6901935749920085e-05
+- 0.9687257409095764
+- -5.512075586011633e-05
+- 0.002762353979051113
+- -0.39908429980278015
+- 8.287928721983917e-06
+- 3.605922756833024e-05
 - 1.0

tracking_2d/homographies/camera_8.yaml

 rows: 3
 cols: 3
 data:
-- -0.002705028746277094
-- -1.9267698007752188e-05
-- 1.1350033283233643
-- -2.070235314022284e-05
-- 0.002639589598402381
-- -0.5023757815361023
-- 6.404763439604721e-07
-- -5.23543894814793e-06
+- -0.0027242072392255068
+- -5.600238364422694e-05
+- 1.0524152517318726
+- -5.832635724800639e-05
+- 0.0026605718303471804
+- -0.4689392149448395
+- 8.001232345122844e-06
+- 1.255879396921955e-05
 - 1.0

tracking_2d/homographies/camera_9.yaml

 rows: 3
 cols: 3
 data:
-- -0.002765292301774025
-- 2.220327041868586e-05
-- 1.3226070404052734
-- -5.775002591690281e-07
-- 0.002726332750171423
-- -0.5376001000404358
-- 2.691352528927382e-05
-- 6.439653952838853e-05
+- -0.002700334182009101
+- -4.637330857804045e-05
+- 1.3456180095672607
+- -4.056811667396687e-05
+- 0.0026352698914706707
+- -0.4546070396900177
+- -4.54713426734088e-06
+- -1.0060396562039386e-05
 - 1.0

tracking_2d/transforms/camera_1_camera_4.yaml

 
 # Autogenerated configuration file - do not hand edit
 
-rotation: 0.018370021134614944
-translation_x: -0.3819495439529419
-translation_y: 0.6889476180076599
+rotation: -0.00976412184536457
+translation_x: -0.3713207542896271
+translation_y: 0.5143294334411621

tracking_2d/transforms/camera_2_camera_4.yaml

 
 # Autogenerated configuration file - do not hand edit
 
-rotation: -0.005411412101238966
-translation_x: 0.35863932967185974
-translation_y: 0.6526103019714355
+rotation: 0.0260488111525774
+translation_x: 0.48496460914611816
+translation_y: 0.5447362661361694

tracking_2d/transforms/camera_3_camera_4.yaml

 
 # Autogenerated configuration file - do not hand edit
 
-rotation: 0.015335670672357082
-translation_x: -0.8465437293052673
-translation_y: 0.11493731290102005
+rotation: 0.014227718114852905
+translation_x: -0.7682847380638123
+translation_y: -0.015502472408115864

tracking_2d/transforms/camera_4_camera_5.yaml

 
 # Autogenerated configuration file - do not hand edit
 
-rotation: -0.007601264864206314
-translation_x: -0.8356330394744873
-translation_y: -0.04050344601273537
+rotation: -0.03985181823372841
+translation_x: -0.967287540435791
+translation_y: 0.078504778444767

tracking_2d/transforms/camera_4_camera_8.yaml

 
 # Autogenerated configuration file - do not hand edit
 
-rotation: -0.004322879947721958
-translation_x: 0.011218894273042679
-translation_y: 0.5001446604728699
+rotation: -0.0024056420661509037
+translation_x: -0.2023981511592865
+translation_y: 0.630126416683197

tracking_2d/transforms/camera_7_camera_8.yaml

 
 # Autogenerated configuration file - do not hand edit
 
-rotation: -0.01876787655055523
-translation_x: -0.8588238954544067
-translation_y: 0.02023598924279213
+rotation: -0.0061458684504032135
+translation_x: -0.8887337446212769
+translation_y: -0.06591743975877762

tracking_2d/transforms/camera_8_camera_10.yaml

 
 # Autogenerated configuration file - do not hand edit
 
-rotation: 0.0031263178680092096
-translation_x: 0.4232371747493744
-translation_y: 0.5516607165336609
+rotation: 0.0010777306742966175
+translation_x: 0.5613802671432495
+translation_y: 0.48201504349708557

tracking_2d/transforms/camera_8_camera_11.yaml

 
 # Autogenerated configuration file - do not hand edit
 
-rotation: -0.045252446085214615
-translation_x: -0.34514886140823364
-translation_y: 0.5391209125518799
+rotation: -0.017478933557868004
+translation_x: -0.4203691780567169
+translation_y: 0.4191746711730957

tracking_2d/transforms/camera_8_camera_9.yaml

 
 # Autogenerated configuration file - do not hand edit
 
-rotation: 0.0009945774218067527
-translation_x: -0.8146054744720459
-translation_y: -0.007169351447373629
+rotation: 0.00831073708832264
+translation_x: -0.686735987663269
+translation_y: 0.011904498562216759