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_sender.cc b/y2019/vision/target_sender.cc
index db33419..b7fed9a 100644
--- a/y2019/vision/target_sender.cc
+++ b/y2019/vision/target_sender.cc
@@ -202,6 +202,8 @@
aos::vision::ImageFormat fmt{640, 480};
aos::vision::BlobList imgs =
aos::vision::FindBlobs(thresholder.Threshold(fmt, data.data(), 120));
+ const int num_pixels = finder.PixelCount(&imgs);
+ LOG(INFO) << "Number pixels: " << num_pixels;
finder.PreFilter(&imgs);
LOG(INFO) << "Blobs: " << imgs.size();
@@ -263,7 +265,7 @@
LOG(INFO) << "Results: " << results.size();
int desired_exposure;
- if (finder.TestExposure(results, &desired_exposure)) {
+ if (finder.TestExposure(results, num_pixels, &desired_exposure)) {
camera0->SetExposure(desired_exposure);
}