Updating 971 robot calibration and some filtering parameters for april tags
Improved calibration estimate for pi-971-2 (referenced to pi-971-1)
Also loosen decision_margin to 50 based on the same data
Change-Id: I0a96a99db53996e9ca38f1f32e08a053f0848138
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/y2023/constants/971.json b/y2023/constants/971.json
index 2f91d1b..9f783fa 100644
--- a/y2023/constants/971.json
+++ b/y2023/constants/971.json
@@ -4,7 +4,7 @@
"calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-1_cam-23-05_ext_2023-03-05.json' %}
},
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_ext_2023-02-22.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_ext_2023-03-25.json' %}
},
{
"calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-3_cam-23-07_ext_2023-02-22.json' %}
diff --git a/y2023/vision/aprilrobotics.cc b/y2023/vision/aprilrobotics.cc
index 95ad541..317720c 100644
--- a/y2023/vision/aprilrobotics.cc
+++ b/y2023/vision/aprilrobotics.cc
@@ -6,7 +6,7 @@
debug, false,
"If true, dump a ton of debug and crash on the first valid detection.");
-DEFINE_double(min_decision_margin, 75.0,
+DEFINE_double(min_decision_margin, 50.0,
"Minimum decision margin (confidence) for an apriltag detection");
DEFINE_int32(pixel_border, 10,
"Size of image border within which to reject detected corners");
@@ -26,13 +26,12 @@
: calibration_data_(event_loop),
image_size_(0, 0),
ftrace_(),
- image_callback_(
- event_loop, channel_name,
- [&](cv::Mat image_color_mat,
- const aos::monotonic_clock::time_point eof) {
- HandleImage(image_color_mat, eof);
- },
- chrono::milliseconds(5)),
+ image_callback_(event_loop, channel_name,
+ [&](cv::Mat image_color_mat,
+ const aos::monotonic_clock::time_point eof) {
+ HandleImage(image_color_mat, eof);
+ },
+ chrono::milliseconds(5)),
target_map_sender_(
event_loop->MakeSender<frc971::vision::TargetMap>("/camera")),
image_annotations_sender_(
diff --git a/y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_ext_2023-03-25.json b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_ext_2023-03-25.json
new file mode 100644
index 0000000..d8b5227
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_ext_2023-03-25.json
@@ -0,0 +1 @@
+{ "node_name": "pi2", "team_number": 971, "intrinsics": [ 893.242981, 0.0, 639.796692, 0.0, 892.498718, 354.109344, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.858536, 0.224804, 0.460847, 0.198133, 0.473832, -0.00434901, -0.880604, -0.221657, -0.195959, 0.974394, -0.110253, 0.593406, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.451751, 0.252422, 0.000531, 0.000079, -0.079369 ], "calibration_timestamp": 1358501526409252911, "camera_id": "23-06" }