Refactor aggregator#365
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I have not tested this yet. These are just some cosmetic changes I'd like to see. Overall, I think the architecture is good.
For this PR specifically, we should wait until both Kaz and I approve to merge.
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One more thing: targets matched should live in mission state instead of CVAggregator |
* feat: precompute all paths * chore: add buffer between computed paths * feat; consolidate waypoints into one mission * deleted existence of next waypoint * revert: revert past 2 commits * fix: prevent duplicate path decrement * feat: add clear mav mission * fix: change mavlink mission upload scheme * feat: unit tests + refactor code * chore: lint * chore: revert cout in gcs_routes * chore: ensure mission starts * chore: ensure that path has enough points before deleting * chore: lint * feat: assert existance of cartesean converter * chore: pass cartesean converter by reference * chore: create check for search path generation --------- Co-authored-by: Braxten Nguyen <braxtennguyen556@gmail.com>
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Closes #325 (sample n images)
Refactor the entire aggregator. Now it serves as an API (initialized upon mission prep), and it listens to the image folder and reads in the image diffs every 500ms (configurable). I also added sampling every n images to reduce bloat.
Tested on sitl and everything still works fine.