commit 8f38ad8622c6db16ad80b0d33c7ffc79bb8adc03
author Milind Upadhyay <milind.upadhyay@gmail.com> Thu Mar 03 10:06:18 2022 -0800
committer Milind Upadhyay <milind.upadhyay@gmail.com> Sun Mar 06 13:55:43 2022 -0800
tree cf24ee1c1a5bdb0b3c67bcbd50bb769c3a7915ff
parent 8f107eb5c1adbcdd866f5434ebd9899046f66605

Penalize vision solver based on projected size

This makes the distance much more accurate.
Also, use standard deviation in pixels to compute confidence.

Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I53f16100065a2bb75b31e78af057326163265d8e

y2022/vision/camera_reader.cc

diff --git a/y2022/vision/camera_reader.cc b/y2022/vision/camera_reader.cc
index 637ad0a..2be2ef1 100644
--- a/y2022/vision/camera_reader.cc
+++ b/y2022/vision/camera_reader.cc
@@ -98,8 +98,8 @@
         CvBlobsToFbs(blob_result.unfiltered_blobs, &builder);
     const auto blob_stats_offset =
         BlobStatsToFbs(blob_result.blob_stats, &builder);
-    const auto filtered_centroids_offset =
-        CvPointsToFbs(blob_result.filtered_centroids, &builder);
+    const auto filtered_stats_offset =
+        BlobStatsToFbs(blob_result.filtered_stats, &builder);
     const Point centroid_fbs =
         Point{blob_result.centroid.x, blob_result.centroid.y};
 
@@ -107,12 +107,12 @@
     blob_result_builder.add_filtered_blobs(filtered_blobs_offset);
     blob_result_builder.add_unfiltered_blobs(unfiltered_blobs_offset);
     blob_result_builder.add_blob_stats(blob_stats_offset);
-    blob_result_builder.add_filtered_centroids(filtered_centroids_offset);
+    blob_result_builder.add_filtered_stats(filtered_stats_offset);
     blob_result_builder.add_centroid(&centroid_fbs);
     blob_result_offset = blob_result_builder.Finish();
   }
 
-  target_estimator_.Solve(blob_result.filtered_centroids, std::nullopt);
+  target_estimator_.Solve(blob_result.filtered_stats, std::nullopt);
 
   const auto camera_calibration_offset =
       aos::RecursiveCopyFlatBuffer(camera_calibration_, builder.fbb());