Adding visualization of the solved poses
Adding visualization of the solved poses before and after outlier rejection
Change-Id: I793d41772ba08388abcbc186af0ed2b92e032b21
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/frc971/vision/target_mapper.h b/frc971/vision/target_mapper.h
index 6cc2396..a4c12b2 100644
--- a/frc971/vision/target_mapper.h
+++ b/frc971/vision/target_mapper.h
@@ -104,6 +104,9 @@
// constraints
void DisplayConstraintGraph();
+ // Create and display a visualization of the map solution (vs. the input map)
+ void DisplaySolvedVsInitial();
+
// Returns true if the solve was successful.
bool SolveOptimizationProblem(ceres::Problem *problem);