From 290da853b0d153133cf376817f7a894a1e7f88cb Mon Sep 17 00:00:00 2001
From: Marina Moreira <marina.moreira@nasa.gov>
Date: Wed, 31 Jul 2024 11:09:48 -0700
Subject: [PATCH] calibrating wannabee using the kalibr tool for nav cam and
 camera refiner for depth and haz cam

---
 astrobee/config/robots/wannabee.config | 28 +++++++++++++-------------
 1 file changed, 14 insertions(+), 14 deletions(-)
 mode change 100644 => 100755 astrobee/config/robots/wannabee.config

diff --git a/astrobee/config/robots/wannabee.config b/astrobee/config/robots/wannabee.config
old mode 100644
new mode 100755
index c78ebfcc4e..893bdab9fc
--- a/astrobee/config/robots/wannabee.config
+++ b/astrobee/config/robots/wannabee.config
@@ -24,12 +24,12 @@ robot_imu_drdy_pin = 4
 
 robot_geometry = {
 -- Placeholder transforms, not accurate!
-  nav_cam_to_haz_cam_transform = transform(vec3(0.071421481, -0.00030319673, 0.0018058249), quat4(-0.0030431141, 0.0092646368, 0.99993195, 0.0064039206)),
-  nav_cam_to_sci_cam_transform = transform(vec3(-0.076526224, 0.011869553, 0.045409155), quat4(-0.0035414316, 0.0048089362, -0.0071515076, 0.99995659)),
+  nav_cam_to_haz_cam_transform = transform(vec3(0.075616428, -0.00096749648, 0.0062933895), quat4(-0.00017819328, 0.0083018325, 0.99996538, 0.0005411728)),
+  nav_cam_to_sci_cam_transform = transform(vec3(-0.039281551, 0.019588783, 0.01785199), quat4(-0.00015255456, -0.0059491231, 0.0011227981, 0.99998166)),
   haz_cam_depth_to_image_transform = {
-    0.91602851, -0.00031586647, -0.0028485861, 0.0029767338,
-    0.00032189197, 0.91603089, 0.0019373744, -0.0020741879,
-    0.0028479115, -0.0019383659, 0.91602652, -0.0042296964,
+    0.97731661, 0.0018614508, -0.021270288, -0.00066456288,
+    -0.00043031775, 0.97429699, -0.0082935118, -0.0013660643,
+    0.027228391, 0.00098190212, 0.97324116, 0.0030490674,
     0, 0, 0, 1},
 
 -- Calibrated transforms
@@ -49,10 +49,10 @@ robot_geometry = {
 
 robot_camera_calibrations = {
   nav_cam = {
-    distortion_coeff = 0.993591,
+    distortion_coeff = 1.00771,
     intrinsic_matrix = {
-      603.78877, 0.0, 575.92329,
-      0.0, 602.11334, 495.30887,
+      612.19027, 0.0, 606.64157,
+      0.0, 612.10463, 534.06073,
       0.0, 0.0, 1.0
     },
     gain=100,
@@ -79,10 +79,10 @@ robot_camera_calibrations = {
     exposure=150
   },
   haz_cam = {
-    distortion_coeff = {-0.411106, 0.375288, -0.00080993, -0.00817328},
+    distortion_coeff = {-0.30196412, -0.020011055, -0.0029212412, -0.001834401},
     intrinsic_matrix = {
-      188.27394, 0.0, 117.94881,
-      0.0, 186.18359, 87.740547,
+      216.74989, 0.0, 114.46908,
+      0.0, 216.74989, 88.143939,
       0.0, 0.0, 1.0
     },
     gain=50,
@@ -90,10 +90,10 @@ robot_camera_calibrations = {
   },
 -- Placeholder for sci_cam, not accurate!
   sci_cam = {
-    distortion_coeff = {0.128628, -0.167456, 0.00213421, -0.00262211},
+    distortion_coeff = {-0.036588161, 0.070076991, -0.0010535958, -0.0034961481},
     intrinsic_matrix = {
-      859.44015, 0.0, 754.24485,
-      0.0, 849.35466, 487.7349,
+      1040.9353, 0.0, 662.59817,
+      0.0, 1040.9353, 508.8169,
       0.0, 0.0, 1.0
     },
     gain=50,