some more important bugfixes
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@ -671,6 +671,10 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
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result = prepareRequestBlobsTm();
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result = prepareRequestBlobsTm();
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return result;
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return result;
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}
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}
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case(startracker::REQ_AUTO_BLOB): {
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result = prepareRequestAutoBlobTm();
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return returnvalue::OK;
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}
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case (startracker::REQ_MATCHING): {
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case (startracker::REQ_MATCHING): {
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result = prepareRequestMatchingParams();
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result = prepareRequestMatchingParams();
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return result;
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return result;
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@ -1484,6 +1488,8 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
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localDataPoolMap.emplace(startracker::CHKSUM, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(startracker::CHKSUM, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(startracker::TICKS_AUTO_BLOB, new PoolEntry<uint32_t>());
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localDataPoolMap.emplace(startracker::TIME_AUTO_BLOB, new PoolEntry<uint64_t>());
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localDataPoolMap.emplace(startracker::AUTO_BLOB_THRESHOLD, new PoolEntry<float>());
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localDataPoolMap.emplace(startracker::AUTO_BLOB_THRESHOLD, new PoolEntry<float>());
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localDataPoolMap.emplace(startracker::PoolIds::NUM_MATCHED_CENTROIDS, new PoolEntry<uint8_t>());
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localDataPoolMap.emplace(startracker::PoolIds::NUM_MATCHED_CENTROIDS, new PoolEntry<uint8_t>());
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@ -2351,6 +2357,7 @@ ReturnValue_t StarTrackerHandler::handleAutoBlobTm(const uint8_t* rawFrame) {
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if (result != returnvalue::OK) {
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if (result != returnvalue::OK) {
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return result;
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return result;
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}
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}
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rawFrame += TICKS_OFFSET;
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size_t remainingLen = fullPacketLen;
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size_t remainingLen = fullPacketLen;
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PoolReadGuard pg(&autoBlobSet);
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PoolReadGuard pg(&autoBlobSet);
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result = pg.getReadResult();
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result = pg.getReadResult();
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@ -2381,6 +2388,7 @@ ReturnValue_t StarTrackerHandler::handleMatchedCentroidTm(const uint8_t* rawFram
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if (result != returnvalue::OK) {
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if (result != returnvalue::OK) {
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return result;
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return result;
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}
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}
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rawFrame += TICKS_OFFSET;
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size_t remainingLen = fullPacketLen;
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size_t remainingLen = fullPacketLen;
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PoolReadGuard pg(&matchedCentroidsSet);
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PoolReadGuard pg(&matchedCentroidsSet);
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result = pg.getReadResult();
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result = pg.getReadResult();
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@ -2440,6 +2448,7 @@ ReturnValue_t StarTrackerHandler::handleBlobTm(const uint8_t* rawFrame) {
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if (result != returnvalue::OK) {
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if (result != returnvalue::OK) {
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return result;
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return result;
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}
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}
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rawFrame += TICKS_OFFSET;
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size_t remainingLen = fullPacketLen;
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size_t remainingLen = fullPacketLen;
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PoolReadGuard pg(&blobsSet);
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PoolReadGuard pg(&blobsSet);
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result = pg.getReadResult();
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result = pg.getReadResult();
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@ -2470,6 +2479,7 @@ ReturnValue_t StarTrackerHandler::handleBlobsTm(const uint8_t* rawFrame) {
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if (result != returnvalue::OK) {
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if (result != returnvalue::OK) {
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return result;
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return result;
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}
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}
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rawFrame += TICKS_OFFSET;
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size_t remainingLen = fullPacketLen;
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size_t remainingLen = fullPacketLen;
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PoolReadGuard pg(&blobsSet);
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PoolReadGuard pg(&blobsSet);
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result = pg.getReadResult();
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result = pg.getReadResult();
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@ -2522,6 +2532,7 @@ ReturnValue_t StarTrackerHandler::handleCentroidTm(const uint8_t* rawFrame) {
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if (result != returnvalue::OK) {
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if (result != returnvalue::OK) {
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return result;
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return result;
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}
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}
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rawFrame += TICKS_OFFSET;
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size_t remainingLen = fullPacketLen;
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size_t remainingLen = fullPacketLen;
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PoolReadGuard pg(¢roidsSet);
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PoolReadGuard pg(¢roidsSet);
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result = pg.getReadResult();
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result = pg.getReadResult();
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@ -2553,6 +2564,7 @@ ReturnValue_t StarTrackerHandler::handleCentroidsTm(const uint8_t* rawFrame) {
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if (result != returnvalue::OK) {
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if (result != returnvalue::OK) {
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return result;
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return result;
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}
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}
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rawFrame += TICKS_OFFSET;
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size_t remainingLen = fullPacketLen;
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size_t remainingLen = fullPacketLen;
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PoolReadGuard pg(¢roidsSet);
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PoolReadGuard pg(¢roidsSet);
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result = pg.getReadResult();
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result = pg.getReadResult();
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@ -274,6 +274,8 @@ enum PoolIds : lp_id_t {
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DEBUG_CAMERA_TIMING,
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DEBUG_CAMERA_TIMING,
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DEBUG_CAMERA_TEST,
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DEBUG_CAMERA_TEST,
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TICKS_AUTO_BLOB,
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TIME_AUTO_BLOB,
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AUTO_BLOB_THRESHOLD,
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AUTO_BLOB_THRESHOLD,
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TICKS_MATCHED_CENTROIDS,
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TICKS_MATCHED_CENTROIDS,
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@ -1441,10 +1443,10 @@ class AutoBlobSet : public StaticLocalDataSet<3> {
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AutoBlobSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, AUTO_BLOB_SET_ID) {}
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AutoBlobSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, AUTO_BLOB_SET_ID) {}
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// Ticks timestamp
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// Ticks timestamp
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lp_var_t<uint32_t> ticks =
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lp_var_t<uint32_t> ticks =
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lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_MATCHED_CENTROIDS, this);
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lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_AUTO_BLOB, this);
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// Unix time stamp
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// Unix time stamp
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lp_var_t<uint64_t> timeUs =
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lp_var_t<uint64_t> timeUs =
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lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_MATCHED_CENTROIDS, this);
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lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_AUTO_BLOB, this);
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lp_var_t<float> threshold = lp_var_t<float>(sid.objectId, PoolIds::AUTO_BLOB_THRESHOLD, this);
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lp_var_t<float> threshold = lp_var_t<float>(sid.objectId, PoolIds::AUTO_BLOB_THRESHOLD, this);
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private:
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private:
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@ -1466,15 +1468,15 @@ class MatchedCentroidsSet : public StaticLocalDataSet<20> {
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lp_var_t<uint8_t> numberOfMatchedCentroids =
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lp_var_t<uint8_t> numberOfMatchedCentroids =
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lp_var_t<uint8_t>(sid.objectId, PoolIds::NUM_MATCHED_CENTROIDS, this);
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lp_var_t<uint8_t>(sid.objectId, PoolIds::NUM_MATCHED_CENTROIDS, this);
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lp_vec_t<uint32_t, 16> starIds =
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lp_vec_t<uint32_t, 16> starIds =
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lp_vec_t<uint32_t, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_STAR_IDS);
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lp_vec_t<uint32_t, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_STAR_IDS, this);
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lp_vec_t<float, 16> xCoords =
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lp_vec_t<float, 16> xCoords =
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lp_vec_t<float, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_X_COORDS);
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lp_vec_t<float, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_X_COORDS, this);
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lp_vec_t<float, 16> yCoords =
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lp_vec_t<float, 16> yCoords =
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lp_vec_t<float, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_Y_COORDS);
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lp_vec_t<float, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_Y_COORDS, this);
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lp_vec_t<float, 16> xErrors =
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lp_vec_t<float, 16> xErrors =
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lp_vec_t<float, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_X_ERRORS);
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lp_vec_t<float, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_X_ERRORS, this);
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lp_vec_t<float, 16> yErrors =
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lp_vec_t<float, 16> yErrors =
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lp_vec_t<float, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_Y_ERRORS);
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lp_vec_t<float, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_Y_ERRORS, this);
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private:
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private:
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};
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};
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2
tmtc
2
tmtc
@ -1 +1 @@
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Subproject commit c4598ff05858952d0107d4f6f61cbef8ff2de691
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Subproject commit 97b529318dbc654ec55fd765f892bff212918f39
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