Initial Vision Subsystem #11
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ds12a
reviewed
Feb 5, 2025
| double dist1 = Math.abs(camHeights[camIndex] - pose1.getZ()); | ||
| double dist2 = Math.abs(camHeights[camIndex] - pose2.getZ()); | ||
| // This filters out results by seeing if they are the height of the robot. | ||
| if (dist1 < dist2 && dist1 < VisionConstants.kRobotHeight && dist1 > 0) { |
Contributor
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dist1 < VisionConstants.kRobotHeight && dist1 > 0 should probably be pose1.getZ() < VisionConstants.kRobotHeight && pose1.getZ() > 0. Depending on how close camHeights[camIndex] is to kRobotHeight or the ground, I feel like those conditions may not be necessary because pose1.getZ() may naturally fall out of that range while the pose may still be useful.
ds12a
reviewed
Feb 5, 2025
| if (dist1 < dist2 && dist1 < VisionConstants.kRobotHeight && dist1 > 0) { | ||
| return pose1; | ||
| } | ||
| if (dist2 < dist1 && dist2 < VisionConstants.kRobotHeight && dist2 > 0) { |
ds12a
reviewed
Feb 5, 2025
| } | ||
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| private double getSeconds() { | ||
| return RobotController.getFPGATime(); |
Contributor
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This returns microseconds. Need to divide by 1,000,000.
ds12a
reviewed
Feb 5, 2025
| } | ||
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| // Filters | ||
| private boolean camsAgreeWithWheels(Translation3d pose, WallEyeResult result) { |
Contributor
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Type should be WallEyeTagResult
ds12a
reviewed
Feb 5, 2025
| logger.recordOutput("Vision/Rejected Cam", centerPose); | ||
| } | ||
| } else if (res.getFirst() instanceof WallEyeTagResult) { | ||
| // I don't know what it does. I don't it does anything. But be careful about deletion. |
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You are correct. This section does nothing and may be removed.
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