Track the lowest point in each side of the target
Change-Id: Ic02df9c466a82ca7e074beb49c25b6712bbe20d7
diff --git a/y2019/vision/debug_viewer.cc b/y2019/vision/debug_viewer.cc
index 8ef67fa..e217d53 100644
--- a/y2019/vision/debug_viewer.cc
+++ b/y2019/vision/debug_viewer.cc
@@ -96,7 +96,7 @@
target_finder_.PreFilter(&imgs);
// Find polygons from blobs.
- std::vector<Polygon> 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);
@@ -142,9 +142,10 @@
std::vector<TargetComponent> target_component_list =
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},
+ for (const TargetComponent &component : target_component_list) {
+ DrawComponent(component, {0, 255, 255}, {0, 255, 255}, {255, 0, 0},
{0, 0, 255});
+ overlay_.DrawCross(component.bottom_point, 4, {128, 0, 255});
}
}