Sundry extrinsics/target mapping fixes.
Notes:
* Rate-limit foxglove image converter.
* Don't log foxglove image channels.
* Make pose error more permissive to allow for better matches covering
gaps in field.
* Allow matching between more than just the immediately previous target
detection for situations where multiple cameras see multiple separate
targets.
* I mucked around with --outlier_std_devs; idk how much impact it has.
* Fix event loops & distributed clock calculation in extrinsics.
* Update box of orins calibration appropriately.
* Fix FindCameraCalibration call in y2024 target_mapper.
* Generate a misnamed map of the blue-side [6, 10] tags on the EPA field.
The variations from the nominal seem to largely reflect real variation
in the field.
* Bump up max distance to consider targets in target mapper; this seems
to have negligible impact.
Change-Id: I6b790568908beaba2bee5006c9e4fd58c5cc4e47
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/vision/target_mapping.cc b/y2024/vision/target_mapping.cc
index 7548445..d2fb26e 100644
--- a/y2024/vision/target_mapping.cc
+++ b/y2024/vision/target_mapping.cc
@@ -389,6 +389,7 @@
target_constraints.erase(
std::remove_if(target_constraints.begin(), target_constraints.end(),
[](const auto &constraint) {
+ // TODO(james): This no longer makes sense.
constexpr TargetMapper::TargetId kMaxRedId = 4;
TargetMapper::TargetId min_id =
std::min(constraint.id_begin, constraint.id_end);