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/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_(