Revert "Make the detection pixel border 10 pixels"
This reverts commit fc6803b24f30366d9e6f552c5567cabcfea0d133.
Reason for revert: From some cursory testing, this appears to be degrading performance again.
Change-Id: Iab038549bce8c01e73873e6ad6a1c92a69e0c4ff
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/orin/gpu_apriltag.cc b/frc971/orin/gpu_apriltag.cc
index cc3c7f4..87d5f49 100644
--- a/frc971/orin/gpu_apriltag.cc
+++ b/frc971/orin/gpu_apriltag.cc
@@ -26,7 +26,7 @@
"1.0.");
DEFINE_double(min_decision_margin, 50.0,
"Minimum decision margin (confidence) for an apriltag detection");
-DEFINE_int32(pixel_border, 10,
+DEFINE_int32(pixel_border, 150,
"Size of image border within which to reject detected corners");
DEFINE_uint64(pose_estimation_iterations, 50,
"Number of iterations for apriltag pose estimation.");