Make target mapping work with aprilrobotics
- Use a separate event loop for detecting and mapping (one makes a
sender and one makes a watcher)
- Remap target map channel so we can send those while replaying
- Improving debugging messages
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I52f2b234b7f53db77b45126fc2a4ea8e07baa0c8
diff --git a/y2023/vision/aprilrobotics.cc b/y2023/vision/aprilrobotics.cc
index a98f269..07eee64 100644
--- a/y2023/vision/aprilrobotics.cc
+++ b/y2023/vision/aprilrobotics.cc
@@ -227,7 +227,9 @@
const aos::monotonic_clock::time_point end_time = aos::monotonic_clock::now();
- timeprofile_display(tag_detector_->tp);
+ if (FLAGS_debug) {
+ timeprofile_display(tag_detector_->tp);
+ }
VLOG(1) << "Took " << chrono::duration<double>(end_time - start_time).count()
<< " seconds to detect overall";