Convert UnWarpContour to use a vector<Vector2f>
This makes it so we don't risk multiple points being rounded to the same
pixel. It does the float conversion slightly earlier in the process.
Change-Id: Ic6288854ebddc17e020e839c1d2e5cc22394522a
diff --git a/y2019/vision/target_finder.h b/y2019/vision/target_finder.h
index 1ba79ba..fcde358 100644
--- a/y2019/vision/target_finder.h
+++ b/y2019/vision/target_finder.h
@@ -30,12 +30,12 @@
// filter out obvious or durranged blobs.
void PreFilter(BlobList *imgs);
- ContourNode* GetContour(const RangeImage &blob);
- void UnWarpContour(ContourNode* start) const;
+ ContourNode *GetContour(const RangeImage &blob);
+ ::std::vector<::Eigen::Vector2f> UnWarpContour(ContourNode *start) const;
// Turn a blob into a polgygon.
- std::vector<aos::vision::Segment<2>> FillPolygon(ContourNode *start,
- bool verbose);
+ std::vector<aos::vision::Segment<2>> FillPolygon(
+ const ::std::vector<::Eigen::Vector2f> &contour, bool verbose);
// Turn a bloblist into components of a target.
std::vector<TargetComponent> FillTargetComponentList(