adding gem_e4.yaml to knowledge

Author: muralikarteek7

GEMstack/knowledge/calibration/gem_e4.yaml

@@ -1,7 +1,63 @@
-calibration_date: "2024-03-05"  # Date of calibration YYYY-MM-DD
-reference: rear_axle_center  # rear axle center
-rear_axle_height: 0.33      # height of rear axle center above flat ground
-gnss_location: [1.10,0,1.62] # meters, taken from https://github.com/hangcui1201/POLARIS_GEM_e2_Real/blob/main/vehicle_drivers/gem_gnss_control/scripts/gem_gnss_tracker_stanley_rtk.py.  Note conflict with pure pursuit location?
-gnss_yaw: 0.0 # radians
+T_frontcamera_vehicle:
+- - 0.04979815921110274
+  - -0.02889308605338095
+  - 0.998341277156963
+  - 0.6874899022540225
+- - -0.9986898492450907
+  - 0.010343220052680617
+  - 0.05011489006575621
+  - -0.006750728511462573
+- - -0.011774038000135968
+  - -0.9995289850272167
+  - -0.02834016107658961
+  - -0.07694233627246522
+- - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+T_toplidar_frontcamera:
+- - 0.029096143490519977
+  - -0.9995463314295703
+  - -0.007781115579835407
+  - -0.045768971801312515
+- - -0.005777780139254174
+  - 0.007616104089319731
+  - -0.999954305063568
+  - -0.3868171492765085
+- - 0.9995599190096819
+  - 0.02913977151915098
+  - -0.005553559684576381
+  - -0.6975440651652165
+- - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+T_toplidar_vehicle:
+- - 0.9995177984237671
+  - -0.020904183387756348
+  - 0.022959932684898376
+  - 0.0
+- - 0.020975051447749138
+  - 0.9997758865356445
+  - -0.0028501423075795174
+  - 0.0
+- - -0.0228952094912529
+  - 0.003330353880301118
+  - 0.9997323155403137
+  - 0.33000001311302185
+- - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+date: '2025-02-25 22:31:02.057447'
+calibration_type: absolute_vehicle_calibration
+gnss_location:
+- 1.1
+- 0
+- 1.62
+gnss_yaw: 0.0
+rear_axle_height: 0.33
+reference: rear_axle_center
+vehicle: gem_e4
 top_lidar: !include "gem_e4_ouster.yaml"
 front_camera: !include "gem_e4_oak.yaml"