recal cameras

HighlanderRobotics · Apr 8, 2024 · a9d8cce · a9d8cce
1 parent ff258a0
commit a9d8cce
Showing 1 changed file with 15 additions and 16 deletions.
diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java
@@ -74,6 +74,7 @@
 import frc.robot.Robot;
 import frc.robot.Robot.RobotMode;
 import frc.robot.subsystems.swerve.Module.ModuleConstants;
+import frc.robot.subsystems.swerve.SwerveSubsystem.AutoAimStates;
 import frc.robot.subsystems.vision.Vision;
 import frc.robot.subsystems.vision.Vision.VisionConstants;
 import frc.robot.subsystems.vision.VisionHelper;
@@ -154,34 +155,32 @@ public class AutoAimStates {
   private double lastOdometryUpdateTimestamp = 0.0;
 
   public static final Matrix<N3, N3> LEFT_CAMERA_MATRIX =
+      MatBuilder.fill(Nat.N3(), Nat.N3(), 912.58, 0.0, 829.49, 0.0, 912.97, 650.11, 0.0, 0.0, 1.0);
+  public static final Matrix<N5, N1> LEFT_DIST_COEFFS =
+      MatBuilder.fill(
+          Nat.N5(), Nat.N1(), 0.013, -0.031, 0, -0.002, 0.115); // Last 3 values have been truncated
+  public static final Matrix<N3, N3> RIGHT_CAMERA_MATRIX =
       MatBuilder.fill(
           Nat.N3(),
           Nat.N3(),
-          905.8460068929472,
+          902.0832829888818,
           0.0,
-          609.5597530043692,
+          611.9702186077134,
           0.0,
-          902.8748199030964,
-          404.79249985937037,
+          902.2731968281233,
+          400.755534902121,
           0.0,
           0.0,
           1.0);
-  public static final Matrix<N5, N1> LEFT_DIST_COEFFS =
-      MatBuilder.fill(
-          Nat.N5(), Nat.N1(), 0.042, -0.055, -0.003, 0.001,
-          0.018); // Last 3 values have been truncated
-  public static final Matrix<N3, N3> RIGHT_CAMERA_MATRIX =
-      MatBuilder.fill(
-          Nat.N3(), Nat.N3(), 911.3512229, 0, 613.8313639, 0, 907.3772729, 361.1892783, 0, 0, 1);
   public static final Matrix<N5, N1> RIGHT_DIST_COEFFS =
       MatBuilder.fill(
           Nat.N5(),
           Nat.N1(),
-          0.0475654581,
-          -0.05424391133,
-          -0.00171161002,
-          0.0007729068571,
-          0.001176848411); // Last 3 values have been truncated
+          0.05398335403070431,
+          -0.07589158973947994,
+          -0.003081304772847505,
+          -0.0010797674400397023,
+          0.015185486932866137); // Last 3 values have been truncated
   public static final VisionConstants leftCamConstants =
       new VisionConstants(
           "Left_Camera",