I think I figured out the error in the localization that we were seeing – the ToF is getting multiplied by 2 somewhere in the new pipeline, so dividing it back out now solves the issue. Temporary fix, but it makes our system work overall.
This past week, I’ve been working on the poster design and preparing it for our testing to get final accuracies tomorrow. The overall style looks goo,d now we just need to add graphs that show accurate the system is and how closely we’ve achieved our goals.
This keeps me on track with the schedule.