Post comp cleanup

[zehdari]

Added some threading locks for vision side of things, and some minor cleanups post comp.

Summary by CodeRabbit

• Bug Fixes
  • Improved handling of invalid detection orientations so downstream mapping receives consistent values.
  • Zero-depth slalom detections are now rejected along with other invalid depth values.
  • Improved stability when switching cameras or detection models during image processing.
  • Corrected detection message routing for more reliable mapping.
  • Removed the dummy bin_target detection from default test configuration.
• Documentation
  • Updated table-orientation guidance for improved clarity.

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Actionable comments posted: 4

🤖 Prompt for all review comments with AI agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

Inline comments:
In `@riptide_mapping/riptide_mapping2/dummydetections.py`:
- Around line 263-277: Ensure the detection loop has a valid camera and header
when pool constraints are disabled and neither camera currently sees the object.
In the surrounding visibility logic, force visibleForwards to True when
self.pool is false and both visibleForwards and visibleDownwards are false, so
camera_frame, pubPose.header, and the later detection.header assignment
consistently use the forward-camera values.

In `@tensor_detector/src/detection.py`:
- Around line 583-586: Update the table-pair docstring near
quat_from_normal_and_inplane_dir to state that world +y is the table surface
normal and +x is the in-plane horizontal axis, while preserving the description
of across_world and the camera-frame return behavior.

In `@tensor_detector/src/yolo_orientation.py`:
- Around line 259-267: Update parse_class_id_map so the result of yaml.safe_load
is normalized to an empty dictionary whenever it is falsey, including empty or
null YAML input. Preserve the existing warning, logging, and dictionary return
behavior for valid mappings.
- Around line 373-394: Update image_callback’s existing _camera_lock snapshot to
also capture fx, fy, cx, cy, and intrinsic_matrix, then construct Frame
exclusively from those local snapshots alongside frame_id and class_id_map.
Ensure camera_info_callback acquires _camera_lock while updating camera
intrinsics, and reset_collection_variables uses the same lock when clearing
camera_info_gathered.

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📥 Commits

Reviewing files that changed from the base of the PR and between ec6420c and b4d5235.

📒 Files selected for processing (5)

• riptide_mapping/config/dummy_detections.yaml
• riptide_mapping/riptide_mapping2/dummydetections.py
• riptide_mapping/riptide_mapping2/mapping.py
• tensor_detector/src/detection.py
• tensor_detector/src/yolo_orientation.py

💤 Files with no reviewable changes (1)

• riptide_mapping/config/dummy_detections.yaml