Take distortion into account for mapping noise
Again, following the localizers logic here, but with thresholds we can
tune separately.
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I2b9f6f7cace2bf1de3468e3a627383452db863f2
diff --git a/frc971/vision/target_mapper.h b/frc971/vision/target_mapper.h
index 9d943c9..3724832 100644
--- a/frc971/vision/target_mapper.h
+++ b/frc971/vision/target_mapper.h
@@ -111,6 +111,8 @@
// Horizontal distance from camera to target, used for confidence
// calculation
double distance_from_camera;
+ // A measure of how much distortion affected this detection from 0-1.
+ double distortion_factor;
TargetMapper::TargetId id;
};
@@ -128,9 +130,8 @@
// detection between robot movement over the given time period. Ceres calls
// this matrix the "information"
static TargetMapper::ConfidenceMatrix ComputeConfidence(
- aos::distributed_clock::time_point start,
- aos::distributed_clock::time_point end, double distance_from_camera_start,
- double distance_from_camera_end);
+ const TimestampedDetection &detection_start,
+ const TimestampedDetection &detection_end);
private:
// Computes the constraint between the start and end pose of the targets: the