Update checkerboard ZDFs and multicamera transforms

In 2.14, we dropped support for legacy checkerboards that lack Aruco markers. This commit replaces the checkerboard frames which had legacy checkerboards with new frames. Also the multicamera transforms are updated based on the new frames.
zivid · Dec 3, 2024 · 87dbc6c · 87dbc6c
1 parent 7c396d2
commit 87dbc6c
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Showing 6 changed files with 15 additions and 15 deletions.
diff --git a/test/calibration/test_calibration_basics.py b/test/calibration/test_calibration_basics.py
@@ -24,7 +24,7 @@ def test_detect_feature_points(checkerboard_frames):
     centroid = detection_result.centroid()
     assert isinstance(centroid, np.ndarray)
     assert centroid.shape == (3,)
-    np.testing.assert_allclose(centroid, [-67.03593, 71.17018, 906.348], rtol=1e-6)
+    np.testing.assert_allclose(centroid, [-14.350989, -43.70388, 1016.19257], rtol=1e-6)
 
 
 def test_calibration_board_pose(calibration_board_frame):

diff --git a/test/test_data/checkerboard_0.zdf b/test/test_data/checkerboard_0.zdf
diff --git a/test/test_data/checkerboard_1.zdf b/test/test_data/checkerboard_1.zdf
diff --git a/test/test_data/checkerboard_2.zdf b/test/test_data/checkerboard_2.zdf
diff --git a/test/test_data/multicamera_transform_1.csv b/test/test_data/multicamera_transform_1.csv
@@ -1,4 +1,4 @@
--7.3095135e-02,  7.6068854e-01, -6.4498842e-01,  5.8324860e+02
--9.0033317e-01,  2.2786885e-01,  3.7077752e-01, -4.5301959e+02
- 4.2901897e-01,  6.0780650e-01,  6.6821700e-01,  3.4943375e+02
- 0.0000000e+00,  0.0000000e+00,  0.0000000e+00,  1.0000000e+00
+5.02376556e-01, 7.80708194e-01, -3.71634930e-01, 3.38841370e+02
+-8.01094711e-01, 5.82002580e-01, 1.39714986e-01, -1.23210884e+02
+3.25369120e-01, 2.27525249e-01, 9.17805672e-01, 7.47449799e+01
+0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00
diff --git a/test/test_data/multicamera_transform_2.csv b/test/test_data/multicamera_transform_2.csv
@@ -1,4 +1,4 @@
--5.0617337e-01, -7.4661517e-01,  4.3168774e-01, -4.4305154e+02
- 5.9950125e-01,  5.5231109e-02,  7.9846591e-01, -7.5797052e+02
--6.1998934e-01,  6.6295952e-01,  4.1964021e-01,  4.8767010e+02
- 0.0000000e+00,  0.0000000e+00,  0.0000000e+00,  1.0000000e+00
+9.3767160e-01, -3.0800268e-01, 1.6095431e-01, -8.9220314e+01
+3.0431503e-01, 9.5137602e-01, 4.7707938e-02, -5.4816345e+01
+-1.6782224e-01, 4.2464356e-03, 9.8580813e-01, 2.2653728e+01
+0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00