Fix various bugs in vision code
- Keep outdoors on because that's used now
- Don't convert distortion coeffs to doubles
- Actually seed angles correctly when frozen
- Don't draw unused absolute centroid
Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I606b4d2853d04649029813eb4349f88a57791a62
diff --git a/y2022/vision/blob_detector.cc b/y2022/vision/blob_detector.cc
index 9800ace..60af1f8 100644
--- a/y2022/vision/blob_detector.cc
+++ b/y2022/vision/blob_detector.cc
@@ -12,7 +12,7 @@
#include "y2022/vision/geometry.h"
DEFINE_bool(
- use_outdoors, false,
+ use_outdoors, true,
"If set, use the color filters and exposure for an outdoor setting.");
DEFINE_int32(red_delta, 50, "Required difference between green pixels vs. red");
DEFINE_int32(blue_delta, -20,
@@ -247,10 +247,6 @@
cv::circle(view_image, stats.centroid, kCircleRadius, cv::Scalar(0, 255, 0),
cv::FILLED);
}
-
- // Draw average centroid
- cv::circle(view_image, blob_result.centroid, kCircleRadius,
- cv::Scalar(255, 255, 0), cv::FILLED);
}
void BlobDetector::ExtractBlobs(cv::Mat bgr_image,