using accumulator of entire cdi array msg lead to crash with multiple detections. Went back to original idea of using color image msg per detection. As removal/timeout of old information is disabled, this now works as well.
using accumulator of entire cdi array msg lead to crash with multiple detections. Went back to original idea of using color image msg per detection. As removal/timeout of old information is disabled, this now works as well.
fixed calculation of pixel difference percentage, fixed accumulator. Percentage of difference not acceptable, duh.