commit cafdd5d0bce6d91a6fb5f48edf73a15dad80033b
author milind-u <milind.upadhyay@gmail.com> Tue Mar 01 19:58:57 2022 -0800
committer Milind Upadhyay <milind.upadhyay@gmail.com> Sun Mar 06 14:30:35 2022 -0800
tree 6311be6f6293084351e676e5eaece3f85b8d3484
parent 8f38ad8622c6db16ad80b0d33c7ffc79bb8adc03

Use extrinsics to seed vision solver

Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I674da5535fa3894468e66f11cbbc3e9d32d8cedf

y2022/vision/camera_definition.py

diff --git a/y2022/vision/camera_definition.py b/y2022/vision/camera_definition.py
index 21ae7f3..7ad2c0b 100644
--- a/y2022/vision/camera_definition.py
+++ b/y2022/vision/camera_definition.py
@@ -99,10 +99,8 @@
     T = np.array([0.0, 0.0, 0.0])
 
     if pi_number == "pi1":
-        # This is the turret camera
-        camera_pitch = -10.0 * np.pi / 180.0
-        is_turret = True
-        T = np.array([7.5 * 0.0254, -5.5 * 0.0254, 41.0 * 0.0254])
+        camera_pitch = -35.0 * np.pi / 180.0
+        T = np.array([0.0, 0.0, 37.0 * 0.0254])
     elif pi_number == "pi2":
         T = np.array([4.5 * 0.0254, 3.75 * 0.0254, 26.0 * 0.0254])
     elif pi_number == "pi3":