Count decision margin rejections in aprilrobotics
That way we'll easily be able to tell if we need to adjust the threshold
because of lighting. Next step is adding this output from each pi
to the webpage.
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I20491dab30850c0a2115bcdf6ef1dbec8153e673
diff --git a/frc971/vision/target_map.fbs b/frc971/vision/target_map.fbs
index e635760..de79744 100644
--- a/frc971/vision/target_map.fbs
+++ b/frc971/vision/target_map.fbs
@@ -63,6 +63,13 @@
// End-of-frame timestamp for the frame with tag detections.
// (for use case 2.).
monotonic_timestamp_ns:int64 (id: 2);
+
+ // Number of april tags rejected (cumulative) because
+ // of low decision margin (affected by lighting).
+ // We do the decision margin rejection in aprilrobotics
+ // so we don't have an excessive amount of random target
+ // detections (for use case 2).
+ rejections:uint64 (id: 3);
}
root_type TargetMap;