cchandel-dev
commented
10 months ago This work will be done in the amalgamateCluster function in the comment below. Ideally, I think this should just be run once at the end of the manual flight period, to free up resources during manual flight (not sure if it's necessary, but there is no downside).
https://github.com/UWO-Aero-Design/pada2023/issues/5#issuecomment-1793472000
Sounds complex but it's basically: "don't consider a point that's been detected on a single frame as an actual target landing zone until it has been seen x times in y frames (where x and y are configurable parameters). For example, if we see a point 3 times in the last 10 frames, that might just be noise that's not actually a landing zone. If we see a point 8 times in the last 10 frames, it's probably a true landing zone.
You'll have to go through the history of all detected points for the last y frames and see if there's a match within the threshold at least x times before it gets added to some "good detected targets" list.