Add a foothill finder
We were having some corners which were really close to primary corners
but also kinda high. The fix for those is to ignore any peaks which
don't become small enough before running into previously counted peaks.
We call these peaks foothills.
Change-Id: I58243cd22d0ec9d224c48623551705ad5f3d1168
diff --git a/y2019/vision/debug_viewer.cc b/y2019/vision/debug_viewer.cc
index b282367..2bc41ac 100644
--- a/y2019/vision/debug_viewer.cc
+++ b/y2019/vision/debug_viewer.cc
@@ -139,7 +139,7 @@
// Calculate each component side of a possible target.
std::vector<TargetComponent> target_component_list =
- target_finder_.FillTargetComponentList(raw_polys);
+ target_finder_.FillTargetComponentList(raw_polys, draw_components_);
if (draw_components_) {
for (const TargetComponent &comp : target_component_list) {
DrawComponent(comp, {0, 255, 255}, {0, 255, 255}, {255, 0, 0},