Reject TargetPoses that imply a high yaw error
We trust the localizer's yaw estimate and any vision estimates
suggesting a very high yaw error are likely outliers.
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I69bbd64f217b6feab963cd8280ee7378ed7f4e7a
diff --git a/y2023/localizer/status.fbs b/y2023/localizer/status.fbs
index 1b5c6f6..7f97fc7 100644
--- a/y2023/localizer/status.fbs
+++ b/y2023/localizer/status.fbs
@@ -17,6 +17,8 @@
NO_SUCH_TARGET = 3,
// Pose estimation error was higher than any normal detection.
HIGH_POSE_ERROR = 4,
+ // Pose estimate implied a robot yaw far off from our estimate.
+ HIGH_IMPLIED_YAW_ERROR = 5,
}
table RejectionCount {