Attach the perimeter to the polygons.
Change-Id: Ic278b68e2e0481d88869946a08588651e884a882
diff --git a/y2019/vision/debug_viewer.cc b/y2019/vision/debug_viewer.cc
index 2bc41ac..14063c2 100644
--- a/y2019/vision/debug_viewer.cc
+++ b/y2019/vision/debug_viewer.cc
@@ -96,23 +96,23 @@
target_finder_.PreFilter(&imgs);
// Find polygons from blobs.
- std::vector<std::vector<Segment<2>>> raw_polys;
+ std::vector<Polygon> raw_polys;
for (const RangeImage &blob : imgs) {
// Convert blobs to contours in the corrected space.
ContourNode *contour = target_finder_.GetContour(blob);
if (draw_contours_) {
DrawContour(contour, {255, 0, 0});
}
- const ::std::vector<::Eigen::Vector2f> unwarped_contour =
+ ::std::vector<::Eigen::Vector2f> unwarped_contour =
target_finder_.UnWarpContour(contour);
if (draw_contours_) {
DrawContour(unwarped_contour, {0, 0, 255});
}
// Process to polygons.
- std::vector<Segment<2>> polygon =
- target_finder_.FillPolygon(unwarped_contour, draw_raw_poly_);
- if (polygon.empty()) {
+ const Polygon polygon = target_finder_.FindPolygon(
+ ::std::move(unwarped_contour), draw_raw_poly_);
+ if (polygon.segments.empty()) {
if (!draw_contours_) {
DrawBlob(blob, {255, 0, 0});
}
@@ -122,15 +122,16 @@
DrawBlob(blob, {0, 0, 255});
}
if (draw_raw_poly_) {
- std::vector<PixelRef> colors = GetNColors(polygon.size());
+ std::vector<PixelRef> colors = GetNColors(polygon.segments.size());
std::vector<Vector<2>> corners;
- for (size_t i = 0; i < polygon.size(); ++i) {
- corners.push_back(
- polygon[i].Intersect(polygon[(i + 1) % polygon.size()]));
+ for (size_t i = 0; i < polygon.segments.size(); ++i) {
+ corners.push_back(polygon.segments[i].Intersect(
+ polygon.segments[(i + 1) % polygon.segments.size()]));
}
- for (size_t i = 0; i < polygon.size(); ++i) {
- overlay_.AddLine(corners[i], corners[(i + 1) % polygon.size()],
+ for (size_t i = 0; i < polygon.segments.size(); ++i) {
+ overlay_.AddLine(corners[i],
+ corners[(i + 1) % polygon.segments.size()],
colors[i]);
}
}