Scale residual based on blob area
Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: Ia6dc6f48db49dfe653be1a798a02fd33ef600548
diff --git a/y2022/vision/target_estimator.h b/y2022/vision/target_estimator.h
index f158626..ac170e8 100644
--- a/y2022/vision/target_estimator.h
+++ b/y2022/vision/target_estimator.h
@@ -73,8 +73,7 @@
template <typename S>
cv::Point_<S> DistanceFromTapeIndex(
- size_t centroid_index,
- size_t tape_index,
+ size_t centroid_index, size_t tape_index,
const std::vector<cv::Point_<S>> &tape_points) const;
void DrawProjectedHub(const std::vector<cv::Point2d> &tape_points_proj,
@@ -82,6 +81,7 @@
std::vector<BlobDetector::BlobStats> blob_stats_;
size_t middle_blob_index_;
+ double max_blob_area_;
std::optional<cv::Mat> image_;
Eigen::Matrix3d intrinsics_;