Quote:
Originally Posted by blueboss
Is it possible their values aren't quite right or that your camera's distance from the high goal is actually changing when you turn (due to its off-center mounting or the robot's non-perfect turning)?
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Thank you for the suggestion blueboss. I've tested our vision algorithm with this distortion pretty extensively, and when testing with the robot have made sure that it was at approximately the same distance (give or take several inches) when turned to the side. The spherical unwarp module (along with the standard radial distortion module most people use) has given the most promising correction to the issue, as it made the difference almost unnoticeable when turning the camera, BUT this also made the algorithm a lot less responsive to actual changes in distance, so in a sense it was too strong of a fix - I tried messing around with the amounts of spherical unwarp, as well as multipliers and offsets for the distance function, but this only made the algorithm for random and jumpy. Some of the rotational corrections I applied worked in terms of getting the target to be parallel to the top and bottom of the frame, but still left the additional 3 to 6 pixels on the target height, which is equivalent to about half a foot to a foot in our distance function.