commit d5c7f0d63335619311154b645e944d146b9f5ab8
author Yash Chainani <yashchainani28@gmail.com> Sat Nov 19 17:05:57 2022 -0800
committer Yash Chainani <yashchainani28@gmail.com> Sat Dec 17 14:45:55 2022 -0800
tree 7514c163e25ae991507c574d944bd778ff2220f7
parent f48f39ad5efbf20ae0159bf0ae459b613a4ae1c2

detect apriltags and call solver

Pass pose info from roborio and apriltag poses to mapping solver.
Apriltag poses get converted to robot frame.

Signed-off-by: Yash Chainani <yashchainani28@gmail.com>
Change-Id: I840c0e3c8ab0d751d2d6de172243fed66d1cbbf6

y2022/vision/target_estimator.cc

diff --git a/y2022/vision/target_estimator.cc b/y2022/vision/target_estimator.cc
index 9bbaf75..b84cf21 100644
--- a/y2022/vision/target_estimator.cc
+++ b/y2022/vision/target_estimator.cc
@@ -20,7 +20,7 @@
 DEFINE_bool(freeze_angle_to_camera, true,
             "If true, don't solve for polar angle to camera");
 
-DEFINE_uint64(max_num_iterations, 200,
+DEFINE_uint64(max_solver_iterations, 200,
               "Maximum number of iterations for the ceres solver");
 DEFINE_bool(solver_output, false,
             "If true, log the solver progress and results");
@@ -268,7 +268,7 @@
   options.gradient_tolerance = 1e-12;
   options.function_tolerance = 1e-16;
   options.parameter_tolerance = 1e-12;
-  options.max_num_iterations = FLAGS_max_num_iterations;
+  options.max_num_iterations = FLAGS_max_solver_iterations;
   ceres::Solver::Summary summary;
   ceres::Solve(options, &problem, &summary);