Added new green delta for outdoors
Signed-off-by: Yash Chainani <yashchainani28@gmail.com>
Change-Id: If4c8ccae24e65b7613f6bc6eccb0d9526feef85f
diff --git a/y2022/vision/blob_detector.cc b/y2022/vision/blob_detector.cc
index 76b16ca..ce257a9 100644
--- a/y2022/vision/blob_detector.cc
+++ b/y2022/vision/blob_detector.cc
@@ -9,15 +9,30 @@
#include "opencv2/features2d.hpp"
#include "opencv2/imgproc.hpp"
-DEFINE_uint64(green_delta, 50,
- "Required difference between green pixels vs. red and blue");
+DEFINE_uint64(red_delta, 100,
+ "Required difference between green pixels vs. red");
+DEFINE_uint64(blue_delta, 50,
+ "Required difference between green pixels vs. blue");
+
DEFINE_bool(use_outdoors, false,
"If true, change thresholds to handle outdoor illumination");
+DEFINE_uint64(outdoors_red_delta, 100,
+ "Difference between green pixels vs. red, when outdoors");
+DEFINE_uint64(outdoors_blue_delta, 15,
+ "Difference between green pixels vs. blue, when outdoors");
namespace y2022 {
namespace vision {
cv::Mat BlobDetector::ThresholdImage(cv::Mat bgr_image) {
+ size_t red_delta = FLAGS_red_delta;
+ size_t blue_delta = FLAGS_blue_delta;
+
+ if (FLAGS_use_outdoors) {
+ red_delta = FLAGS_outdoors_red_delta;
+ red_delta = FLAGS_outdoors_blue_delta;
+ }
+
cv::Mat binarized_image(cv::Size(bgr_image.cols, bgr_image.rows), CV_8UC1);
for (int row = 0; row < bgr_image.rows; row++) {
for (int col = 0; col < bgr_image.cols; col++) {
@@ -27,8 +42,7 @@
uint8_t red = pixel.val[2];
// Simple filter that looks for green pixels sufficiently brigher than
// red and blue
- if ((green > blue + FLAGS_green_delta) &&
- (green > red + FLAGS_green_delta)) {
+ if ((green > blue + blue_delta) && (green > red + red_delta)) {
binarized_image.at<uint8_t>(row, col) = 255;
} else {
binarized_image.at<uint8_t>(row, col) = 0;
@@ -180,11 +194,11 @@
// when the camera is the farthest from the target, at the field corner.
// We can solve for the pitch of the blob:
// blob_pitch = atan((height_tape - height_camera) / depth) + camera_pitch
- // The triangle with the height of the tape above the camera and the camera
- // depth is similar to the one with the focal length in y pixels and the y
- // coordinate offset from the center of the image.
- // Therefore y_offset = focal_length_y * tan(blob_pitch), and
- // y = -(y_offset - offset_y)
+ // The triangle with the height of the tape above the camera and the
+ // camera depth is similar to the one with the focal length in y pixels
+ // and the y coordinate offset from the center of the image. Therefore
+ // y_offset = focal_length_y * tan(blob_pitch), and y = -(y_offset -
+ // offset_y)
constexpr int kMaxY = 400;
constexpr double kTapeAspectRatio = 5.0 / 2.0;
constexpr double kAspectRatioThreshold = 1.6;