object detection tuning

Author: FarhanJ2

src/main/java/org/steelhawks/subsystems/vision/VisionConstants.java

@@ -205,11 +205,11 @@ public enum CameraType {
                 Units.inchesToMeters(23.578 + 1.414),  // height (keep as is)
                 new Rotation3d(
                     Units.degreesToRadians(0.0),
-                    Units.degreesToRadians(20.0),
+                    Units.degreesToRadians(-20.0),
                     Units.degreesToRadians(15.0)
                 )
             ),
-            new Factors.ObjFactors(0.48, LimelightFactors.LIMELIGHT_4, 1280.0, 800.0),
+            new Factors.ObjFactors(0.8, LimelightFactors.LIMELIGHT_4, 1280.0, 800.0),
             CameraType.LIMELIGHT
         )
     };

src/main/java/org/steelhawks/subsystems/vision/objdetect/ObjectVision.java

@@ -87,7 +87,7 @@ private void addCoralObservationToPose(ObjectVisionIO.ObjectObservation observat
         double cameraPitch = robotToCamera.getRotation().getY(); // radians
         Constants.loggedValue("CoralProcessing/cameraPitch_radians", cameraPitch);
         double tyRadians = Math.toRadians(ty);
-        double verticalAngleFromHorizontal = cameraPitch + tyRadians;
+        double verticalAngleFromHorizontal = -cameraPitch - tyRadians;
         Constants.loggedValue("CoralProcessing/AngleFromHorizontal_radians", verticalAngleFromHorizontal);
         Constants.loggedValue("CoralProcessing/AngleFromHorizontal_degrees", Math.toDegrees(verticalAngleFromHorizontal));
         if (Constants.loggedValue("CoralProcessing/VerticalAngleError", verticalAngleFromHorizontal <= 0)) {