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Vision improvements #95

Merged
merged 8 commits into from
Mar 20, 2024
Merged

Vision improvements #95

merged 8 commits into from
Mar 20, 2024

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KangarooKoala
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Changes:

  • Update to PhotonVision 2024.2.9 (This was done to the Orange Pi as well)
  • Incorporate rotation into ROBOT_TO_CAM instead of rotating the camera stream (Rotating the camera stream messed with calibration)
  • Fix pitch check and make it check roll as well
  • Separate raw and filtered results and improve look of pose display

Notes:

  • 31a7fa0 was tested on Crane but not on Toucan as of 3/18
  • We may need to change the roll later depending on how we mount the camera on Toucan

@KangarooKoala
3/14 testing
2db91e4 
Update to 2024.2.9
Fix pitch filter
Add debug prints
@KangarooKoala
Remove prints
cca5f4f
@KangarooKoala
Move ambiguity filter back
4f96d34 
This was supposed to have been moved after the pitch check for logging purposes, but I moved it to the wrong level
@KangarooKoala
Adjust ROBOT_TO_CAM
d4b91a9 
Not tested, roll may need to be negated
@KangarooKoala
Change pitch check to calculate pitch of robot to tag transform
5526b77 
This guarantees the ROBOT_TO_CAM transform is correctly accounted for
@KangarooKoala
Fix rotation calculation (tested)
5ba5c9a
@KangarooKoala
Improve Shuffleboard layout
9c3978a
@KangarooKoala
Check roll as well as pitch
31a7fa0
@TAKBS2412 TAKBS2412 self-requested a review March 19, 2024 03:37
TAKBS2412
TAKBS2412 approved these changes Mar 19, 2024
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@TAKBS2412 TAKBS2412 left a comment

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Some (non-blocking) logging improvements we may want to consider in the future:

  • Convert the 3d pose on field entry to a format that AdvantageScope can understand in its 3d view (to make debugging roll/pitch issues easier)
  • Log the individual filter status, so we have more fine-grained information on why a particular target was included (a bit trickier since that implies many different entries)

@KangarooKoala KangarooKoala merged commit 5e5ed4b into main Mar 20, 2024
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@KangarooKoala KangarooKoala deleted the vision-update branch March 20, 2024 02:23
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@TAKBS2412 TAKBS2412 TAKBS2412 approved these changes

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@KangarooKoala @TAKBS2412