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| import java.util.Optional; | ||
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| public class Camera { | ||
| private static final double AMBIGUITY_THRESHOLD = 0.2; |
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What does this constant do? Add comments
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Ambiguity refers to pose confidence. lower ambiguity means higher confidence in the robot's position, and vice versa. 0.2 is recommended
bjmcternan
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bjmcternan
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Not too bad. Please add comments so we can better understand what this does.
| double totalDist = 0; | ||
| for (var target : pose.targetsUsed) { | ||
| totalDist += target.getBestCameraToTarget().getTranslation().getNorm(); | ||
| } | ||
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| avgDist = totalDist / pose.targetsUsed.size(); |
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Correct me if I'm wrong, but if there's more than one target, wouldn't this be calculating the average distance to targets that are in different locations? If so, that seems like a useless value. Am I wrong in assuming "target"s are different april tags?
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The average distance is the average distance to the targets. The average distance is computed as a scalar multiplied to the current standard deviations. Photon vision already does the pose fusing for us, this is just adjusting the std devs based on distance to the target.
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Ah, I think I understand how this value is used now.
PillageDev
dismissed stale reviews from afranchuk, maxim-kudryashov, and NathanEdg
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a8e92a1
6 participants
Adds vision code for the robot
Closes #17