Increase the error threshold.
Also increase the default exposure to better handle competition
conditions. (Set from calibration time at SFR)
Change-Id: I157315ad2950adda5915f0ca1d007888cd389198
diff --git a/y2019/vision/target_finder.cc b/y2019/vision/target_finder.cc
index a56d82c..3a4c9b0 100644
--- a/y2019/vision/target_finder.cc
+++ b/y2019/vision/target_finder.cc
@@ -512,7 +512,7 @@
// Based on a linear regression between error and distance to target.
// Closer targets can have a higher error because they are bigger.
const double acceptable_error =
- std::max(2 * (21 - 12 * result->extrinsics.z), 50.0);
+ std::max(2 * (75 - 12 * result->extrinsics.z), 75.0);
if (result->solver_error < acceptable_error) {
if (verbose) {
printf("Using an 8 point solve: %f < %f \n", result->solver_error,