Fix the target orientations for 2023 target map
The aprilrobotics detector reports targets with a different reference
frame than what the target map was assuming.
Change-Id: I67cbf91bba7a209fda37c21c7c293349cf8a222f
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>
diff --git a/frc971/vision/target_map.json b/frc971/vision/target_map.json
index 3f6eb54..8d971f3 100644
--- a/frc971/vision/target_map.json
+++ b/frc971/vision/target_map.json
@@ -7,12 +7,11 @@
"y": -2.938,
"z": 0.463
},
- /* yaw of pi */
"orientation": {
- "w": 0.0,
- "x": 0.0,
- "y": 0.0,
- "z": 1.0
+ "w": -0.5,
+ "x": 0.5,
+ "y": -0.5,
+ "z": 0.5
}
},
{
@@ -22,12 +21,11 @@
"y": -1.262,
"z": 0.463
},
- /* yaw of pi */
"orientation": {
- "w": 0.0,
- "x": 0.0,
- "y": 0.0,
- "z": 1.0
+ "w": -0.5,
+ "x": 0.5,
+ "y": -0.5,
+ "z": 0.5
}
},
{
@@ -37,12 +35,11 @@
"y": 0.414,
"z": 0.463
},
- /* yaw of pi */
"orientation": {
- "w": 0.0,
- "x": 0.0,
- "y": 0.0,
- "z": 1.0
+ "w": -0.5,
+ "x": 0.5,
+ "y": -0.5,
+ "z": 0.5
}
},
{
@@ -52,12 +49,11 @@
"y": 2.740,
"z": 0.695
},
- /* yaw of pi */
"orientation": {
- "w": 0.0,
- "x": 0.0,
- "y": 0.0,
- "z": 1.0
+ "w": -0.5,
+ "x": 0.5,
+ "y": -0.5,
+ "z": 0.5
}
},
{
@@ -68,11 +64,10 @@
"z": 0.695
},
"orientation": {
- /* yaw of 0 */
- "w": 1.0,
- "x": 0.0,
- "y": 0.0,
- "z": 0.0
+ "w": 0.5,
+ "x": -0.5,
+ "y": -0.5,
+ "z": 0.5
}
},
{
@@ -82,12 +77,11 @@
"y": 0.414,
"z": 0.463
},
- /* yaw of 0 */
"orientation": {
- "w": 1.0,
- "x": 0.0,
- "y": 0.0,
- "z": 0.0
+ "w": 0.5,
+ "x": -0.5,
+ "y": -0.5,
+ "z": 0.5
}
},
{
@@ -97,12 +91,11 @@
"y": -1.262,
"z": 0.463
},
- /* yaw of 0 */
"orientation": {
- "w": 1.0,
- "x": 0.0,
- "y": 0.0,
- "z": 0.0
+ "w": 0.5,
+ "x": -0.5,
+ "y": -0.5,
+ "z": 0.5
}
},
{
@@ -112,12 +105,11 @@
"y": -2.938,
"z": 0.463
},
- /* yaw of 0 */
"orientation": {
- "w": 1.0,
- "x": 0.0,
- "y": 0.0,
- "z": 0.0
+ "w": 0.5,
+ "x": -0.5,
+ "y": -0.5,
+ "z": 0.5
}
}
]
diff --git a/y2023/vision/maps/target_map.json b/y2023/vision/maps/target_map.json
index 3f6eb54..2aa1995 100644
--- a/y2023/vision/maps/target_map.json
+++ b/y2023/vision/maps/target_map.json
@@ -1,3 +1,7 @@
+/* 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.*/
{
"target_poses": [
{
@@ -7,12 +11,11 @@
"y": -2.938,
"z": 0.463
},
- /* yaw of pi */
"orientation": {
- "w": 0.0,
- "x": 0.0,
- "y": 0.0,
- "z": 1.0
+ "w": -0.5,
+ "x": 0.5,
+ "y": -0.5,
+ "z": 0.5
}
},
{
@@ -22,12 +25,11 @@
"y": -1.262,
"z": 0.463
},
- /* yaw of pi */
"orientation": {
- "w": 0.0,
- "x": 0.0,
- "y": 0.0,
- "z": 1.0
+ "w": -0.5,
+ "x": 0.5,
+ "y": -0.5,
+ "z": 0.5
}
},
{
@@ -37,12 +39,11 @@
"y": 0.414,
"z": 0.463
},
- /* yaw of pi */
"orientation": {
- "w": 0.0,
- "x": 0.0,
- "y": 0.0,
- "z": 1.0
+ "w": -0.5,
+ "x": 0.5,
+ "y": -0.5,
+ "z": 0.5
}
},
{
@@ -52,12 +53,11 @@
"y": 2.740,
"z": 0.695
},
- /* yaw of pi */
"orientation": {
- "w": 0.0,
- "x": 0.0,
- "y": 0.0,
- "z": 1.0
+ "w": -0.5,
+ "x": 0.5,
+ "y": -0.5,
+ "z": 0.5
}
},
{
@@ -68,11 +68,10 @@
"z": 0.695
},
"orientation": {
- /* yaw of 0 */
- "w": 1.0,
- "x": 0.0,
- "y": 0.0,
- "z": 0.0
+ "w": 0.5,
+ "x": -0.5,
+ "y": -0.5,
+ "z": 0.5
}
},
{
@@ -82,12 +81,11 @@
"y": 0.414,
"z": 0.463
},
- /* yaw of 0 */
"orientation": {
- "w": 1.0,
- "x": 0.0,
- "y": 0.0,
- "z": 0.0
+ "w": 0.5,
+ "x": -0.5,
+ "y": -0.5,
+ "z": 0.5
}
},
{
@@ -97,12 +95,11 @@
"y": -1.262,
"z": 0.463
},
- /* yaw of 0 */
"orientation": {
- "w": 1.0,
- "x": 0.0,
- "y": 0.0,
- "z": 0.0
+ "w": 0.5,
+ "x": -0.5,
+ "y": -0.5,
+ "z": 0.5
}
},
{
@@ -112,12 +109,11 @@
"y": -2.938,
"z": 0.463
},
- /* yaw of 0 */
"orientation": {
- "w": 1.0,
- "x": 0.0,
- "y": 0.0,
- "z": 0.0
+ "w": 0.5,
+ "x": -0.5,
+ "y": -0.5,
+ "z": 0.5
}
}
]