Lower the exposure when we see lots of bright pixels.
This is deterministic, so we will see the field repeatably. When this
was random, we were randomly getting different targets depending on
which mode it was in.
Change-Id: I3d8dddeadab9527b3824b0bfbf25c88ecff9de22
diff --git a/y2019/vision/target_finder.cc b/y2019/vision/target_finder.cc
index f6e5ac4..83d4a01 100644
--- a/y2019/vision/target_finder.cc
+++ b/y2019/vision/target_finder.cc
@@ -26,6 +26,14 @@
});
}
+int TargetFinder::PixelCount(BlobList *imgs) {
+ int num_pixels = 0;
+ for (RangeImage &img : *imgs) {
+ num_pixels += img.npixels();
+ }
+ return num_pixels;
+}
+
// Filter blobs on size.
void TargetFinder::PreFilter(BlobList *imgs) {
imgs->erase(
@@ -577,13 +585,11 @@
}
bool TargetFinder::TestExposure(const std::vector<IntermediateResult> &results,
- int *desired_exposure) {
+ int pixel_count, int *desired_exposure) {
// TODO(ben): Add these values to config file.
constexpr double low_dist = 0.8;
- constexpr double high_dist = 2.0;
constexpr int low_exposure = 60;
- constexpr int mid_exposure = 300;
- constexpr int high_exposure = 500;
+ constexpr int mid_exposure = 200;
bool needs_update = false;
if (results.size() > 0) {
@@ -591,10 +597,11 @@
// based on the distance to that target.
// First result should always be the closest target.
if (results[0].extrinsics.z < low_dist) {
+ LOG(INFO) << "Low exposure";
*desired_exposure = low_exposure;
- } else if (results[0].extrinsics.z > high_dist) {
- *desired_exposure = high_exposure;
+ close_bucket_ = 4;
} else {
+ LOG(INFO) << "Mid exposure";
*desired_exposure = mid_exposure;
}
if (*desired_exposure != current_exposure_) {
@@ -602,32 +609,23 @@
current_exposure_ = *desired_exposure;
}
} else {
- // We don't see a target, but part of the problem might
- // be the exposure setting. Lets try changing it and see
- // if things get better.
- const int offset = std::rand() % 10;
-
- // At random with 3/X probability try a higher or lower.
- if (offset == 0) {
- if (low_exposure != current_exposure_) {
- needs_update = true;
- current_exposure_ = low_exposure;
- *desired_exposure = low_exposure;
- }
- } else if (offset == 1) {
- if (mid_exposure != current_exposure_) {
- needs_update = true;
- current_exposure_ = mid_exposure;
- *desired_exposure = mid_exposure;
- }
- } else if (offset == 2) {
- if (high_exposure != current_exposure_) {
- needs_update = true;
- current_exposure_ = high_exposure;
- *desired_exposure = high_exposure;
+ close_bucket_ = ::std::max(0, close_bucket_ - 1);
+ // It's been a while since we saw a target.
+ if (close_bucket_ == 0) {
+ if (pixel_count > 6000) {
+ if (low_exposure != current_exposure_) {
+ needs_update = true;
+ current_exposure_ = low_exposure;
+ *desired_exposure = low_exposure;
+ }
+ } else {
+ if (mid_exposure != current_exposure_) {
+ needs_update = true;
+ current_exposure_ = mid_exposure;
+ *desired_exposure = mid_exposure;
+ }
}
}
- // If one of our cases is not hit don't change anything.
}
return needs_update;
}