Fix target map to match our coordinate conventions
Also, went through and double-checked positions and orientations of the
targets.
Change-Id: I30378da23f60e430b43d5b061460fd77569afc3e
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/vision/maps/target_map.json b/y2024/vision/maps/target_map.json
index a87e9a3..2a8dfef 100644
--- a/y2024/vision/maps/target_map.json
+++ b/y2024/vision/maps/target_map.json
@@ -1,41 +1,46 @@
{
-/* Targets have positive Z pointing out of the board, positive X to the left and
- positive Y is down. This means that the camera lines up with the target if the
- board is upright and the camera is facing away from the board.*/
+/* Targets have positive Z axis pointing into the board, positive X to the right
+ when looking at the board, and positive Y is down when looking at the board.
+ This means that you will get an identity rotation from the camera to target
+ frame when the target is upright, flat, and centered in the camera's view.
+
+ The global frame as the origin at the center of the field, positive X points
+ at the red driver's station, and positive Z points straight up.
+ */
"target_poses": [
{
"id": 1,
"position": {
- "x": -6.809,
- "y": 3.860,
+ "x": 6.809,
+ "y": -3.860,
"z": 1.361
},
"orientation": {
- "w": -0.18,
- "x": -0.68,
- "y": 0.68,
- "z": 0.18
+ "w": 0.1830127,
+ "x": -0.1830127,
+ "y": 0.6830127,
+ "z": -0.6830127
}
},
{
"id": 2,
"position": {
- "x": -7.915,
- "y": 3.223,
+ "x": 7.915,
+ "y": -3.223,
"z": 1.361
},
"orientation": {
- "w": -0.18,
- "x": -0.68,
- "y": 0.68,
- "z": 0.18
+ "w": 0.1830127,
+ "x": -0.1830127,
+ "y": 0.6830127,
+ "z": -0.6830127
}
},
{
"id": 3,
"position": {
- "x": -8.309,
- "y": -0.877,
+ "x": 8.309,
+ "y": 0.877,
"z": 1.456
},
"orientation": {
@@ -48,8 +53,8 @@
{
"id": 4,
"position": {
- "x": -8.309,
- "y": -1.442,
+ "x": 8.309,
+ "y": 1.442,
"z": 1.456
},
"orientation": {
@@ -62,120 +67,120 @@
{
"id": 5,
"position": {
- "x": -6.428,
- "y": -4.099,
+ "x": 6.428,
+ "y": 4.099,
"z": 1.361
},
"orientation": {
- "w": 0.707,
- "x": 0.0,
- "y": -0.707,
+ "w": 0.7071068,
+ "x": -0.7071068,
+ "y": 0.0,
"z": 0.0
}
},
{
"id": 6,
"position": {
- "x": 6.430,
- "y": -4.099,
+ "x": -6.430,
+ "y": 4.099,
"z": 1.361
},
"orientation": {
- "w": 0.707,
- "x": 0.0,
- "y": -0.707,
+ "w": 0.7071068,
+ "x": -0.7071068,
+ "y": 0.0,
"z": 0.0
}
},
{
"id": 7,
"position": {
- "x": 8.309,
- "y": -1.442,
+ "x": -8.309,
+ "y": 1.442,
"z": 1.474
},
"orientation": {
"w": 0.5,
- "x": 0.5,
+ "x": -0.5,
"y": -0.5,
- "z": -0.5
+ "z": 0.5
}
},
{
"id": 8,
"position": {
- "x": 8.309,
- "y": -0.877,
+ "x": -8.309,
+ "y": 0.877,
"z": 1.474
},
"orientation": {
"w": 0.5,
- "x": 0.5,
+ "x": -0.5,
"y": -0.5,
- "z": -0.5
+ "z": 0.5
}
},
{
"id": 9,
"position": {
- "x": 7.915,
- "y": 3.223,
+ "x": -7.915,
+ "y": -3.223,
"z": 1.361
},
"orientation": {
- "w": -0.18,
- "x": -0.68,
- "y": 0.68,
- "z": 0.18
+ "w": 0.1830127,
+ "x": -0.1830127,
+ "y": -0.6830127,
+ "z": 0.6830127
}
},
{
"id": 10,
"position": {
- "x": 6.809,
- "y": 3.860,
+ "x": -6.809,
+ "y": -3.860,
"z": 1.361
},
"orientation": {
- "w": -0.18,
- "x": -0.68,
- "y": 0.68,
- "z": 0.18
+ "w": 0.1830127,
+ "x": -0.1830127,
+ "y": -0.6830127,
+ "z": 0.6830127
}
},
{
"id": 11,
"position": {
- "x": -3.629,
- "y": 0.393,
+ "x": 3.629,
+ "y": -0.393,
"z": 1.326
},
"orientation": {
- "w": 0.68,
- "x": 0.18,
- "y": -0.18,
- "z": -0.68
+ "w": 0.6830127,
+ "x": -0.6830127,
+ "y": -0.1830127,
+ "z": 0.1830127
}
},
{
"id": 12,
"position": {
- "x": -3.630,
- "y": -0.392,
+ "x": 3.630,
+ "y": 0.392,
"z": 1.326
},
"orientation": {
- "w": -0.18,
- "x": -0.68,
- "y": 0.68,
- "z": 0.18
+ "w": 0.1830127,
+ "x": -0.1830127,
+ "y": -0.6830127,
+ "z": 0.6830127
}
},
{
"id": 13,
"position": {
- "x": -2.949,
- "y": 0.000,
+ "x": 2.949,
+ "y": -0.000,
"z": 1.326
},
"orientation": {
@@ -188,43 +193,43 @@
{
"id": 14,
"position": {
- "x": 2.949,
- "y": 0.000,
+ "x": -2.949,
+ "y": -0.000,
"z": 1.326
},
"orientation": {
"w": 0.5,
- "x": 0.5,
+ "x": -0.5,
"y": -0.5,
- "z": -0.5
+ "z": 0.5
}
},
{
"id": 15,
"position": {
- "x": 3.629,
- "y": -0.393,
+ "x": -3.629,
+ "y": 0.393,
"z": 1.326
},
"orientation": {
- "w": -0.18,
- "x": -0.68,
- "y": 0.68,
- "z": 0.18
+ "w": 0.1830127,
+ "x": -0.1830127,
+ "y": 0.6830127,
+ "z": -0.6830127
}
},
{
"id": 16,
"position": {
- "x": 3.630,
- "y": 0.392,
+ "x": -3.630,
+ "y": -0.392,
"z": 1.326
},
"orientation": {
- "w": 0.68,
- "x": 0.18,
- "y": -0.18,
- "z": -0.68
+ "w": 0.6830127,
+ "x": -0.6830127,
+ "y": 0.1830127,
+ "z": -0.1830127
}
}
]