Add pose error ratio to target poses
This lets us filter out estimates that had a secondary pose
estimate which was almost as good as the best one. We should
throw out such estimates, they have been causing one tag-based
implied robot position that is completely different from the others.
Adding this filter to target_mapping prevents jumping implied robot
positions, at least at distances from the charge station and closer.
Also makes it so that all our HP-based estimates are accurate.
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I11e42a4886b8401eeb6f57cf8e547ce3a8ff90b7
diff --git a/frc971/vision/target_map.fbs b/frc971/vision/target_map.fbs
index de79744..10f48cd 100644
--- a/frc971/vision/target_map.fbs
+++ b/frc971/vision/target_map.fbs
@@ -48,6 +48,15 @@
// NOTE: not filtered by aprilrobotics.cc so that we can log
// more detections.
distortion_factor:double (id: 5);
+
+ // Ratio of pose_error from the best estimation to
+ // pose error of the second best estimation.
+ // Only filled out if this pose represents a live detection.
+ // This should be significantly less than 1,
+ // otherwise this pose may be a wrong solution.
+ // NOTE: not filtered by aprilrobotics.cc so that we can log
+ // more detections.
+ pose_error_ratio:double (id: 6);
}
// Map of all target poses on a field.