commit 5a5a78388b237020e31dda1da2a740b30d9e835d
author James Kuszmaul <jabukuszmaul@gmail.com> Wed Mar 16 23:15:08 2022 -0700
committer James Kuszmaul <jabukuszmaul@gmail.com> Fri Mar 25 18:46:27 2022 -0700
tree 4024b644958b8274ad3cdd6579724693eb9ce067
parent c62aeb888303e0afa47df29b2a33de89897dee72

Correctly handle corrupted encoder readings in localizer

Also, tune down image corrections and remap channels in replay.

This does not fix the yaw issues.

Change-Id: I8587148db1bd03d12210f951306cca3e30a2cb84
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

y2022/localizer/localizer_test.cc

diff --git a/y2022/localizer/localizer_test.cc b/y2022/localizer/localizer_test.cc
index 6e9cd1e..ef14972 100644
--- a/y2022/localizer/localizer_test.cc
+++ b/y2022/localizer/localizer_test.cc
@@ -784,7 +784,7 @@
   event_loop_factory_.RunFor(std::chrono::seconds(4));
   CHECK(status_fetcher_.Fetch());
   ASSERT_TRUE(status_fetcher_->model_based()->using_model());
-  EXPECT_TRUE(VerifyEstimatorAccurate(1e-1));
+  EXPECT_TRUE(VerifyEstimatorAccurate(5e-1));
   ASSERT_TRUE(status_fetcher_->model_based()->has_statistics());
   ASSERT_LT(10,
             status_fetcher_->model_based()->statistics()->total_candidates());
@@ -832,7 +832,7 @@
   event_loop_factory_.RunFor(std::chrono::seconds(4));
   CHECK(status_fetcher_.Fetch());
   ASSERT_TRUE(status_fetcher_->model_based()->using_model());
-  EXPECT_TRUE(VerifyEstimatorAccurate(1e-1));
+  EXPECT_TRUE(VerifyEstimatorAccurate(5e-1));
   ASSERT_TRUE(status_fetcher_->model_based()->has_statistics());
   ASSERT_EQ(status_fetcher_->model_based()->statistics()->total_candidates(),
             rejected_count +