Reset target estimate when unable to solve
Prevents us from getting stuck
Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I45fbd9cb3478033c74abda84b4e2294a37d01850
diff --git a/y2022/vision/viewer.cc b/y2022/vision/viewer.cc
index a21c09f..446f1f6 100644
--- a/y2022/vision/viewer.cc
+++ b/y2022/vision/viewer.cc
@@ -274,15 +274,14 @@
blob_result.filtered_blobs.size()
<< ")";
+ estimator.Solve(blob_result.filtered_stats,
+ FLAGS_display_estimation ? std::make_optional(ret_image)
+ : std::nullopt);
if (blob_result.filtered_blobs.size() > 0) {
- estimator.Solve(blob_result.filtered_stats,
- FLAGS_display_estimation ? std::make_optional(ret_image)
- : std::nullopt);
estimator.DrawEstimate(ret_image);
LOG(INFO) << "Read file " << (it - file_list.begin()) << ": " << *it;
}
-
cv::imshow("image", image_mat);
cv::imshow("mask", blob_result.binarized_image);
cv::imshow("blobs", ret_image);