Vision improvements #61
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@jkleiber @linglejack06 should a filter by target distance be added? this would require writing our own pose estimator class. |
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| for (PhotonTrackedTarget target : targets) { | ||
| if (target.getPoseAmbiguity() < VisionConstants.maximumAmbiguity | ||
| && target.getPitch() < VisionConstants.maximumPitch) { |
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Can we use an absolute value so that if pitch is too positive or too negative it'll reject both?
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Also is there any reason to do this here and not in the filterPhotonPose method (or we could do it in both places)?
I'm not necessarily asking for you to change it, I'm just curious about the reasoning behind putting it here vs. somewhere else.
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I added adjustments to variance calculating- could you see if it actually makes any logical sense? thank you! |
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Should errors based off of distance be calculated based on distance alone or x and y components of distance? |
minhnguyenbhs
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…pt at a tunable variance calculator that factors in differences in distance/heading/ambiguity
minhnguyenbhs
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What else should I add? Created a method for filtering individual targets, unsure if it works better