Small tweaks to improve visualization and clarity
Add "-est" to the estimated pose of targets, since they were sometimes
drawn over by the ideal values
Change-Id: I2c19fcb7b07bbb79b51b6faf5efa753f07026a48
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/frc971/vision/target_mapper.h b/frc971/vision/target_mapper.h
index cfefcc7..dc4a85a 100644
--- a/frc971/vision/target_mapper.h
+++ b/frc971/vision/target_mapper.h
@@ -116,6 +116,10 @@
Eigen::Translation3d T_frozen_actual_;
Eigen::Quaterniond R_frozen_actual_;
+ const double kFieldWidth_ = 20.0; // 20 meters across
+ const int kImageWidth_ = 1000;
+ const int kImageHeight_ =
+ kImageWidth_ * 3.0 / 4.0; // Roughly matches field aspect ratio
mutable VisualizeRobot vis_robot_;
Stats stats_with_outliers_;