Made vision work and tuned the delay.
Change-Id: I798ecb56307d5c692425357a91fa4c86a7257bf7
diff --git a/y2017/vision/target_finder.cc b/y2017/vision/target_finder.cc
index 22943ef..608ae75 100644
--- a/y2017/vision/target_finder.cc
+++ b/y2017/vision/target_finder.cc
@@ -157,7 +157,7 @@
// Write down the two indicies.
std::pair<int, int> selected;
// We are regressing the combined estimated center, might write that down.
- double regressed_y_center;
+ double regressed_y_center = 0;
Eigen::VectorXf b = Eigen::VectorXf::Zero(4);
for (size_t i = 0; i < component_list.size(); i++) {
@@ -274,7 +274,7 @@
double pl = std::sqrt(pz * pz + px * px);
*dist = kInchesToMeters * (world_height * pl / py - added_dist);
- *angle = std::atan2(px, pz);
+ *angle = -std::atan2(px, pz);
}
} // namespace vision