Add config for 2910vision: Don't merge until we tag main for bearcudb - #79
Add config for 2910vision: Don't merge until we tag main for bearcudb#79cgpadwick wants to merge 3 commits into
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Any reason the rotation isn't the identity matrix? I'm not too familiar with this math but figured it should probably be [1,0,0]
[0,1,0]
[0,0,1]
right?
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if it was the identity matrix then the apriltag would be in camera coordinates instead of robot coords. I go through it in this doc: https://github.com/Team766/apriltags_cuda/blob/main/doc/rotations.pdf but the short answer is rotating by 0 degrees around Z, -90 around Y and 90 degrees around X converts from camera coords to robot coords for a front facing camera with no rotation. That is to say that after the rotation the Z axis of the camera is aligned with the X axis of the robot, and the Y axis of the camera is aligned with -Z on the robot.
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we do need to check the orientation on the robot, and basically figure out which way +X points. I assume that the front of the robot will be towards the intake, but we need to check. It was actually backwards from the CAD on bearcudb!
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Should probably keep the frame rate here relatively low as only one camera is going to be used. Do you think 12fps is okay?
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this will be about 10 fps as it is now. I changed it from 2 which seemed quite low to me.
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