commit e3182eec629f41e75a6f517d42d3c34d1d20809f
author Ravago Jones <ravagojones@gmail.com> Sat Jan 28 22:33:05 2023 -0800
committer Ravago Jones <ravagojones@gmail.com> Sun Jan 29 14:05:24 2023 -0800
tree a8184c7302f0572b3c182420f8798126a87c1ff5
parent e265cc6229c9e32abf779288c74c1f5896db112d

Scale the image down by 1/3rd

We were running into limits with processing and bandwidth, and we don't
need to be able to detect april tags that are all the way across the
field.

This brings the max detection distance down to about 11 m from 16 m

Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Change-Id: I21c885726c4a29e8b01c8305117b2e029e8e2985

y2023/vision/camera_reader.cc

diff --git a/y2023/vision/camera_reader.cc b/y2023/vision/camera_reader.cc
index a69caf3..5949048 100644
--- a/y2023/vision/camera_reader.cc
+++ b/y2023/vision/camera_reader.cc
@@ -62,8 +62,8 @@
       media_device->FindEntity("rkisp1_resizer_selfpath");
   rkisp1_resizer_selfpath->pads(0)->SetSubdevFormat(width, height,
                                                     MEDIA_BUS_FMT_YUYV8_2X8);
-  rkisp1_resizer_selfpath->pads(1)->SetSubdevFormat(width, height,
-                                                    MEDIA_BUS_FMT_YUYV8_2X8);
+  rkisp1_resizer_selfpath->pads(1)->SetSubdevFormat(
+      width * 2 / 3, height * 2 / 3, MEDIA_BUS_FMT_YUYV8_2X8);
   rkisp1_resizer_selfpath->pads(0)->SetSubdevCrop(width, height);
 
   Entity *rkisp1_resizer_mainpath =
@@ -79,7 +79,7 @@
   rkisp1_mainpath->SetFormat(width / 2, height / 2, V4L2_PIX_FMT_YUV422P);
 
   Entity *rkisp1_selfpath = media_device->FindEntity("rkisp1_selfpath");
-  rkisp1_selfpath->SetFormat(width, height, V4L2_PIX_FMT_YUYV);
+  rkisp1_selfpath->SetFormat(width * 2 / 3, height * 2 / 3, V4L2_PIX_FMT_YUYV);
 
   media_device->Enable(
       media_device->FindLink(camera_device_string, 0, "rkisp1_csi", 0));