Stick blob results into a flatbuffer
subscibed to this in viewer
Signed-off-by: Henry Speiser <henry@speiser.net>
Change-Id: I5ea9a3b8ab31ea7c8e9351469ba80de9c6cc3d2a
Signed-off-by: Henry Speiser <henry@speiser.net>
diff --git a/y2022/vision/target_estimator.h b/y2022/vision/target_estimator.h
index 4988c3c..9db4121 100644
--- a/y2022/vision/target_estimator.h
+++ b/y2022/vision/target_estimator.h
@@ -10,9 +10,11 @@
public:
// Computes the location of the target.
// blob_point is the mean (x, y) of blob pixels.
- static TargetEstimateT EstimateTargetLocation(cv::Point2i blob_point,
- const cv::Mat &intrinsics,
- const cv::Mat &extrinsics);
+ // Adds angle_to_target and distance to the given builder.
+ static void EstimateTargetLocation(cv::Point2i centroid,
+ const cv::Mat &intrinsics,
+ const cv::Mat &extrinsics,
+ TargetEstimate::Builder *builder);
private:
// Height of the center of the tape (m)