wip pre post process

Author: SarangaR

src/missions/gate.rs

@@ -89,15 +89,15 @@ pub async fn gate_run_procedural<
 
         let shark = detections
             .iter()
-            .filter(|d| matches!(d.class().identifier, Target::LeftPole))
+            .filter(|d| matches!(d.class().identifier, Target::Shark))
             .collect_vec();
 
         let sawfish = detections
             .iter()
-            .filter(|d| matches!(d.class().identifier, Target::RightPole))
+            .filter(|d| matches!(d.class().identifier, Target::Sawfish))
             .collect_vec();
 
-        let mut traversal_timer = DelayAction::new(9.5); // forward duration in second
+        let mut traversal_timer = DelayAction::new(7.5); // forward duration in second
 
         match config.side {
             Side::Left => {

src/missions/path_align.rs

@@ -38,7 +38,7 @@ pub async fn path_align_procedural<
     };
 
     let _ = cb
-        .stability_2_speed_set(0.0, config.speed, 0.0, 0.0, initial_yaw, config.depth)
+        .stability_1_speed_set(config.speed, 0.0, 0.0, 0.0, 0.0, config.depth)
         .await;
 
     let mut last_set_yaw = initial_yaw;
@@ -105,7 +105,7 @@ pub async fn path_align_procedural<
         logln!("Positive detection count: {consec_detections}");
     }
     let _ = cb
-        .stability_2_speed_set(1.0, 0.3, 0.0, 0.0, last_set_yaw, config.depth)
+        .stability_2_speed_set(0.0, 1.0, 0.0, 0.0, last_set_yaw, config.depth)
         .await;
     sleep(Duration::from_secs(1)).await;
 }

src/video_source/appsink.rs

@@ -52,7 +52,7 @@ impl Camera {
         let capture_string =
             pipeline_head(camera_path, camera_dimensions.0, camera_dimensions.1, 30)
                 + " ! jpegdec ! tee name=raw "
-                + "raw. ! queue  ! videoconvert ! videobalance brightness=-0.6 ! appsink "
+                + "raw. ! queue  ! videoconvert ! videobalance brightness=0.0 ! appsink "
                 + "raw. ! queue  ! videoconvert ! "
                 + &h264_enc_pipeline(2048000)
                 + " ! tee name=h264 "
@@ -152,7 +152,7 @@ fn pipeline_head(device_name: &str, width: u32, height: u32, framerate: u32) ->
     return format!("mfvideosrc device-index={device_name} ! image/jpeg, width={width}, height={height}, framerate={framerate}/1");
 
     #[cfg(not(target_os = "windows"))]
-    return format!("v4l2src device={device_name} exposure=25 ! image/jpeg, width={width}, height={height}, framerate={framerate}/1");
+    return format!("v4l2src device={device_name} exposure=30 ! image/jpeg, width={width}, height={height}, framerate={framerate}/1");
 }
 
 fn h264_enc_pipeline(bitrate: u32) -> String {

src/vision/gate_poles.rs

@@ -59,8 +59,8 @@ impl TryFrom<i32> for Target {
             3 => Ok(Self::Sawfish),
             // 4 => Ok(Self::Pole),
             // 5 => Ok(Self::Pole),
-            4 => Ok(Self::LeftPole),
-            5 => Ok(Self::RightPole),
+            5 => Ok(Self::LeftPole),
+            4 => Ok(Self::RightPole),
             x => Err(TargetError { x }),
         }
     }

src/vision/path_cv.rs

@@ -82,7 +82,7 @@ impl PathCV {
     }
 
     pub fn from_color_profile(color_profile: &ColorProfile) -> Self {
-        Self::new(color_profile.orange.clone(), Size::from((400, 300)))
+        Self::new(dbg!(color_profile.orange.clone()), Size::from((400, 300)))
     }
 }