Fix turret calibration
* The calibration for the turret position was messed up following the
turret work done earlier.
* The camera extrinsics were absurdly far off.
Change-Id: Ife97b85a4ac426038b7ca30e6b9994597ff81810
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2020/constants.cc b/y2020/constants.cc
index 3f5cd2a..1336411 100644
--- a/y2020/constants.cc
+++ b/y2020/constants.cc
@@ -138,9 +138,11 @@
1.42977866919024 - Values::kIntakeZero();
turret->potentiometer_offset = 5.52519370141247 + 0.00853506822980376 +
- 0.0109413725126625 - 0.223719825811759;
+ 0.0109413725126625 - 0.223719825811759 +
+ 0.261356551915472;
+ ;
turret_params->zeroing_constants.measured_absolute_position =
- 0.547478339799516;
+ 0.588553036694566;
hood->zeroing_constants.measured_absolute_position = 0.0344482433884915;
hood->zeroing_constants.single_turn_measured_absolute_position =
diff --git a/y2020/vision/tools/python_code/camera_definition.py b/y2020/vision/tools/python_code/camera_definition.py
index 6172ae7..727cf70 100644
--- a/y2020/vision/tools/python_code/camera_definition.py
+++ b/y2020/vision/tools/python_code/camera_definition.py
@@ -57,7 +57,7 @@
turret_cam_ext.R = np.array(
camera_pitch_matrix *
np.matrix([[0., 0., 1.], [-1, 0, 0], [0, -1., 0]]))
- turret_cam_ext.T = np.array([15.0 * 0.0254, 15.0 * 0.0254, 41.0 * 0.0254])
+ turret_cam_ext.T = np.array([7.5 * 0.0254, -5.5 * 0.0254, 41.0 * 0.0254])
default_cam_ext = CameraExtrinsics()
default_cam_ext.R = np.array([[-1.0, 0.0, 0.0], [0.0, -1.0, 0.0],
[0.0, 0.0, 1.0]])