Add interpolation table for auto-aim speed-over-ground
We actually have a shot velocity that varies significantly with
distance.
Change-Id: I3a4a59ef3cb181c9f437d50f865d04f710a7f961
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022/vision/blob_detector.cc b/y2022/vision/blob_detector.cc
index 60af1f8..93c72d7 100644
--- a/y2022/vision/blob_detector.cc
+++ b/y2022/vision/blob_detector.cc
@@ -133,7 +133,7 @@
}
// Threshold for mean distance from a blob centroid to a circle.
- constexpr double kCircleDistanceThreshold = 10.0;
+ constexpr double kCircleDistanceThreshold = 1.0;
// We should only expect to see blobs between these angles on a circle.
constexpr double kDegToRad = M_PI / 180.0;
constexpr double kMinBlobAngle = 50.0 * kDegToRad;
diff --git a/y2022/vision/camera_definition.py b/y2022/vision/camera_definition.py
index 61789cb..f59f2cf 100644
--- a/y2022/vision/camera_definition.py
+++ b/y2022/vision/camera_definition.py
@@ -105,7 +105,7 @@
camera_yaw = 0.0
T = np.array([-7.5 * 0.0254, -3.5 * 0.0254, 34.0 * 0.0254])
elif pi_number == "pi3":
- camera_yaw = 179.0 * np.pi / 180.0
+ camera_yaw = 178.5 * np.pi / 180.0
T = np.array([-1.0 * 0.0254, 8.5 * 0.0254, 34.25 * 0.0254])
elif pi_number == "pi4":
camera_yaw = -90.0 * np.pi / 180.0
diff --git a/y2022/vision/camera_reader_main.cc b/y2022/vision/camera_reader_main.cc
index 22794d3..9320152 100644
--- a/y2022/vision/camera_reader_main.cc
+++ b/y2022/vision/camera_reader_main.cc
@@ -10,7 +10,7 @@
DEFINE_double(duty_cycle, 0.6, "Duty cycle of the LEDs");
DEFINE_uint32(exposure, 5,
"Exposure time, in 100us increments; 0 implies auto exposure");
-DEFINE_uint32(outdoors_exposure, 2,
+DEFINE_uint32(outdoors_exposure, 20,
"Exposure time when using --use_outdoors, in 100us increments; 0 "
"implies auto exposure");