commit 915d6002bb67d632999b1b260464cb5d07275d49
author Milind Upadhyay <milind.upadhyay@gmail.com> Mon Dec 26 20:37:43 2022 -0800
committer Milind Upadhyay <milind.upadhyay@gmail.com> Mon Jan 09 18:22:43 2023 -0800
tree de5638e771fdb3ad538dbf63247712900557098e
parent 958d4466456e3ab0cb3f67fb7246032ba6bce04b

Support box of pis in 2022 mapping code

This is what we'll actually be using for mapping. For now, use the
mapping option that doesn't consider robot position.

Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I6ed7e7a378da896670aecee3f15acb1541cdec7f

frc971/vision/target_mapper.h

diff --git a/frc971/vision/target_mapper.h b/frc971/vision/target_mapper.h
index 8f83278..16a8343 100644
--- a/frc971/vision/target_mapper.h
+++ b/frc971/vision/target_mapper.h
@@ -124,7 +124,7 @@
   // too much
   static std::vector<ceres::examples::Constraint2d> MatchTargetDetections(
       const std::vector<TimestampedDetection> &timestamped_target_detections,
-      aos::distributed_clock::duration max_dt = std::chrono::milliseconds(5));
+      aos::distributed_clock::duration max_dt = std::chrono::milliseconds(1));
 
   // Computes inverse of covariance matrix, assuming there was a target
   // detection between robot movement over the given time period. Ceres calls