commit c5beba1e7d63994110d190c36d12a97dc6b37077
author Milind Upadhyay <milind.upadhyay@gmail.com> Sat Dec 17 17:41:20 2022 -0800
committer milind-u <milind.upadhyay@gmail.com> Sat Jan 21 20:45:02 2023 -0800
tree b119121aa2c272e2ccf8a7afcf6713fab1a389fb
parent fbc48c9b71337dc9edbd853b18ddc1211379f7e4

Solve mapping problem in 3d

Solving for z, pitch, and roll will help us get better estimates for
the 2d pose that we actually care about.

Also, since we are only using the box of pis for mapping, deleted
functionality for mapping with robot position so I didn't have to
support that in 3d.

Change-Id: I87e99a148c4953e2e67b0b0e9b07aa9abe1cd158
Signed-off-by: milind-u <milind.upadhyay@gmail.com>

y2022/vision/camera_definition.py

diff --git a/y2022/vision/camera_definition.py b/y2022/vision/camera_definition.py
index 2f8a127..9d43ee4 100644
--- a/y2022/vision/camera_definition.py
+++ b/y2022/vision/camera_definition.py
@@ -135,6 +135,7 @@
             camera_yaw = -90.0 * np.pi / 180.0
             T = np.array([-10.5 * 0.0254, -5.0 * 0.0254, 28.5 * 0.0254])
     elif team_number == 7971:
+        is_turret = False
         # Cameras are flipped upside down
         camera_roll = 180.0 * np.pi / 180.0
         if pi_number == "pi1":