VisionCleanup:
- Minor cleanup and bug fixes.
- Update sender parameters.
- Enable Slower Threshold.
- Cleanup from code review.
Change-Id: I5f6ea77b42d6520e120379a5efbd312c2467c811
diff --git a/y2019/vision/target_finder.cc b/y2019/vision/target_finder.cc
index b46d802..be2e262 100644
--- a/y2019/vision/target_finder.cc
+++ b/y2019/vision/target_finder.cc
@@ -419,13 +419,24 @@
}
std::vector<IntermediateResult> TargetFinder::FilterResults(
- const std::vector<IntermediateResult> &results) {
+ const std::vector<IntermediateResult> &results, uint64_t print_rate) {
std::vector<IntermediateResult> filtered;
for (const IntermediateResult &res : results) {
if (res.solver_error < 75.0) {
filtered.emplace_back(res);
}
}
+ frame_count_++;
+ if (!filtered.empty()) {
+ valid_result_count_++;
+ }
+ if (print_rate > 0 && frame_count_ > print_rate) {
+ LOG(INFO, "Found (%zu / %zu)(%.2f) targets.\n", valid_result_count_,
+ frame_count_, (double)valid_result_count_ / (double)frame_count_);
+ frame_count_ = 0;
+ valid_result_count_ = 0;
+ }
+
return filtered;
}