commit 8791beddf07b355c232dea819e6757bebf69e0b4
author milind-u <milind.upadhyay@gmail.com> Sat Mar 04 14:45:52 2023 -0800
committer Milind Upadhyay <milind.upadhyay@gmail.com> Sun Mar 05 13:59:36 2023 -0800
tree 125aabd5eee376da5c9abfe8eb449ef8a336c424
parent 6f80352c66f2a44a57bf05f8597b4169f8502754

Loosen threshold for max dt between mapping images

This allows us to connect observations between different cameras.

Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I08bae3b267d92d0f9b219373f4708c89ff94407e

frc971/vision/target_mapper.h

diff --git a/frc971/vision/target_mapper.h b/frc971/vision/target_mapper.h
index 7701fd1..9d943c9 100644
--- a/frc971/vision/target_mapper.h
+++ b/frc971/vision/target_mapper.h
@@ -122,7 +122,7 @@
   // too much
   static ceres::examples::VectorOfConstraints MatchTargetDetections(
       const std::vector<TimestampedDetection> &timestamped_target_detections,
-      aos::distributed_clock::duration max_dt = std::chrono::milliseconds(1));
+      aos::distributed_clock::duration max_dt = std::chrono::milliseconds(10));
 
   // Computes inverse of covariance matrix, assuming there was a target
   // detection between robot movement over the given time period. Ceres calls