Object detection -> master#271
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currently the object-relative-to-camera math isnt working but object detection is soooooooooo |
hillelv
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Jun 25, 2026
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| double objectRelativeToCameraX = getCameraRelativeObjectX( | ||
| robotRelativeCameraPose, | ||
| DetectedObjectType.FUEL.getCenterHeightFromFloorMeters() * THREE_FOURTHS_OBJECT_FACTOR, | ||
| pitchOffset | ||
| ); | ||
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| double objectRelativeToCameraY = getCameraRelativeObjectY( | ||
| robotRelativeCameraPose, | ||
| DetectedObjectType.FUEL.getCenterHeightFromFloorMeters() * THREE_FOURTHS_OBJECT_FACTOR, | ||
| yawOffset, | ||
| objectRelativeToCameraX | ||
| ); | ||
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| Translation2d objectRelativeToCamera = new Translation2d(objectRelativeToCameraX, objectRelativeToCameraY); | ||
| Translation2d objectRelativeToField = objectRelativeToCamera.rotateBy(robotRelativeCameraPose.getRotation().toRotation2d()); | ||
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why don't you use ObjectDetectionMath.getDetectedObjectObservation()?
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| private final Rotation2d horizontalFOV; | ||
| private final Rotation2d verticalFOV; |
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| private static final int THROTTLE_ENABLE_VALUE = 200; | ||
| private static final int THROTTLE_DISABLE_VALUE = 0; | ||
| private static final double THREE_FOURTHS_OBJECT_FACTOR = 1.5; |
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