commit 9eaed860643798d94b4537044baa3b27b4aecc91
author Maxwell Henderson <mxwhenderson@gmail.com> Sat Mar 23 19:34:51 2024 -0700
committer Maxwell Henderson <mxwhenderson@gmail.com> Sat Mar 23 19:34:51 2024 -0700
tree a03fb6dc43936a82cd017d00899e44185df56f69
parent 992e9dfe2a7235071b4f6260c8ca6be515061dd3

Set exposure to 100000 in argus_camera

Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I0b98addccefd3da89dd6bd5b6aad9790b3bb6eb6

frc971/orin/argus_camera.cc

diff --git a/frc971/orin/argus_camera.cc b/frc971/orin/argus_camera.cc
index 42686a1..7d7a884 100644
--- a/frc971/orin/argus_camera.cc
+++ b/frc971/orin/argus_camera.cc
@@ -31,7 +31,7 @@
              "Mode to use.  Don't change unless you know what you are doing.");
 DEFINE_int32(camera, 0, "Camera number");
 DEFINE_int32(mode, 0, "Mode number to use.");
-DEFINE_int32(exposure, 200000, "Exposure number to use.");
+DEFINE_int32(exposure, 100000, "Exposure number to use.");
 DEFINE_int32(gain, 5, "gain number to use.");
 DEFINE_int32(width, 1456, "Image width");
 DEFINE_int32(height, 1088, "Image height");

frc971/orin/gpu_apriltag.cc

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.");