Idea to apply offset to camera transform 3d so that it can be more accurate in doing turning #119
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| return GrayScaleCamera.getBestTargetTransform3d(toUse.getTrackedTargetWithID(tagId)); | ||
| Transform3d current = | ||
| GrayScaleCamera.getBestTargetTransform3d(toUse.getTrackedTargetWithID(tagId)); | ||
| Transform3d offset = new Transform3d(0.0, -0.229, 0.0, new Rotation3d()); |
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this number is highly magical.
why this particular value? where did it come from?
does this work if the robot is turning in either direction?
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This value comes from my "measurement" of the camera's position to the middle of the bumper. I say "measurement" as I used wills fingers to measure so we should get something more accurate. This should work in all test cases since it moves the camera to the middle. It should have no impact on other things (or so I think).
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back then I recall we also have to rotate along a certain axis so that we compensate for the camera tilt
you should test (maybe unit tests or some logs) to see if the resultant coordinates make sense
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