Practice day field calibration + joystick button changes
Change-Id: I656d54615dcd23b586a0e1bf80e43b22bc245194
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/vision/camera_reader.cc b/y2023/vision/camera_reader.cc
index b526086..3001c04 100644
--- a/y2023/vision/camera_reader.cc
+++ b/y2023/vision/camera_reader.cc
@@ -12,7 +12,7 @@
DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
DEFINE_bool(lowlight_camera, true, "Switch to use imx462 image sensor.");
-DEFINE_int32(gain, 200, "analogue_gain");
+DEFINE_int32(gain, 150, "analogue_gain");
DEFINE_double(red, 1.252, "Red gain");
DEFINE_double(green, 1, "Green gain");
diff --git a/y2023/vision/maps/johnson.json b/y2023/vision/maps/johnson.json
new file mode 100644
index 0000000..b0aef36
--- /dev/null
+++ b/y2023/vision/maps/johnson.json
@@ -0,0 +1,152 @@
+{
+ "target_poses": [
+{
+ "id": 1,
+ "position": {
+ "x": 7.243997790506,
+ "y": -2.933106182702,
+ "z": 0.462948446708
+ },
+ "orientation": {
+ "w": 0.50135307601,
+ "x": -0.503852469447,
+ "y": 0.496681622743,
+ "z": -0.498081467069
+ },
+ "confidence": 0.0,
+ "pose_error": 0.0,
+ "distortion_factor": 0.0,
+ "pose_error_ratio": 0.0
+ },
+ {
+ "id": 2,
+ "position": {
+ "x": 7.233087584818,
+ "y": -1.266935526895,
+ "z": 0.458422750798
+ },
+ "orientation": {
+ "w": 0.503123586992,
+ "x": -0.498312711799,
+ "y": 0.4917162543,
+ "z": -0.506721050214
+ },
+ "confidence": 0.0,
+ "pose_error": 0.0,
+ "distortion_factor": 0.0,
+ "pose_error_ratio": 0.0
+ },
+ {
+ "id": 3,
+ "position": {
+ "x": 7.226895621731,
+ "y": 0.399357924781,
+ "z": 0.451036794292
+ },
+ "orientation": {
+ "w": 0.509600379834,
+ "x": -0.495432434727,
+ "y": 0.487971656326,
+ "z": -0.506693021577
+ },
+ "confidence": 0.0,
+ "pose_error": 0.0,
+ "distortion_factor": 0.0,
+ "pose_error_ratio": 0.0
+ },
+ {
+ "id": 4,
+ "position": {
+ "x": 7.909,
+ "y": 2.74,
+ "z": 0.695
+ },
+ "orientation": {
+ "w": -0.5,
+ "x": 0.5,
+ "y": -0.5,
+ "z": 0.5
+ },
+ "confidence": 0.0,
+ "pose_error": 0.0,
+ "distortion_factor": 0.0,
+ "pose_error_ratio": 0.0
+ },
+ {
+ "id": 5,
+ "position": {
+ "x": -7.908,
+ "y": 2.74,
+ "z": 0.695
+ },
+ "orientation": {
+ "w": 0.5,
+ "x": -0.5,
+ "y": -0.5,
+ "z": 0.5
+ },
+ "confidence": 0.0,
+ "pose_error": 0.0,
+ "distortion_factor": 0.0,
+ "pose_error_ratio": 0.0
+ },
+ {
+ "id": 6,
+ "position": {
+ "x": -7.239001740201,
+ "y": 0.422111705663,
+ "z": 0.464955016203
+ },
+ "orientation": {
+ "w": 0.498420780853,
+ "x": -0.499263204799,
+ "y": -0.500023026083,
+ "z": 0.502284730939
+ },
+ "confidence": 0.0,
+ "pose_error": 0.0,
+ "distortion_factor": 0.0,
+ "pose_error_ratio": 0.0
+ },
+ {
+ "id": 7,
+ "position": {
+ "x": -7.241093280921,
+ "y": -1.270115952319,
+ "z": 0.463955457197
+ },
+ "orientation": {
+ "w": -0.499112246574,
+ "x": 0.499432412584,
+ "y": 0.501866879868,
+ "z": -0.49958369216
+ },
+ "confidence": 0.0,
+ "pose_error": 0.0,
+ "distortion_factor": 0.0,
+ "pose_error_ratio": 0.0
+ },
+ {
+ "id": 8,
+ "position": {
+ "x": -7.240827110532,
+ "y": -2.95806661736,
+ "z": 0.458620705581
+ },
+ "orientation": {
+ "w": -0.499747319421,
+ "x": 0.499461045816,
+ "y": 0.501623538198,
+ "z": -0.499164333279
+ },
+ "confidence": 0.0,
+ "pose_error": 0.0,
+ "distortion_factor": 0.0,
+ "pose_error_ratio": 0.0
+ }
+ ],
+ "field_name": "johnson",
+ "monotonic_timestamp_ns": 0,
+ "rejections": 0
+}
+