Various y2024 localizer updates
* Make use of ignore_tags list to deweight/ignore some april tags.
* Pull in y2022/3 corrections style where we use implied robot x/y/theta
for corrections rather than heading/distance/skew (this may not
be necessary any more, as I believe the original reasons
for switching are largely resolved).
* Fix up the replay binary
* Various tunings.
* Mitigation for Orin timing issues.
Change-Id: I766a0d0046125cece4e64e086f7f23a4c930d9f8
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/localizer/visualization.fbs b/y2024/localizer/visualization.fbs
index d903e3a..6e61512 100644
--- a/y2024/localizer/visualization.fbs
+++ b/y2024/localizer/visualization.fbs
@@ -37,6 +37,9 @@
expected_observation:Measurement (id: 15);
actual_observation:Measurement (id: 16);
modeled_noise:Measurement (id: 17);
+ expected_robot_x:double (id: 18);
+ expected_robot_y:double (id: 19);
+ expected_robot_theta:double (id: 20);
}
table Visualization {