commit f67f67d8a3904f63aa26b35d56f55e1675d8ea11
author Milind Upadhyay <milind.upadhyay@gmail.com> Sun Mar 27 14:29:47 2022 -0700
committer Milind Upadhyay <milind.upadhyay@gmail.com> Sun Mar 27 16:14:27 2022 -0800
tree 0b745062fa068bf7a22d3c38f27892d3c3b0a601
parent 24a03a84e31cff0e4a9ff42b2baacb340d8bac4f

Bring back use_outdoors flag

In the cafeteria the lighting is very different, and color filters and
exposure need to be changed to lower noise.

Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I2aa3aefd5832d336737b7b0df7b8fd940a69b80f

y2022/vision/blob_detector.cc

diff --git a/y2022/vision/blob_detector.cc b/y2022/vision/blob_detector.cc
index efe7961..9800ace 100644
--- a/y2022/vision/blob_detector.cc
+++ b/y2022/vision/blob_detector.cc
@@ -11,15 +11,30 @@
 #include "opencv2/imgproc.hpp"
 #include "y2022/vision/geometry.h"
 
+DEFINE_bool(
+    use_outdoors, false,
+    "If set, use the color filters and exposure for an outdoor setting.");
 DEFINE_int32(red_delta, 50, "Required difference between green pixels vs. red");
 DEFINE_int32(blue_delta, -20,
              "Required difference between green pixels vs. blue");
+DEFINE_int32(outdoors_red_delta, 70,
+             "Required difference between green pixels vs. red when using "
+             "--use_outdoors");
+DEFINE_int32(outdoors_blue_delta, -10,
+             "Required difference between green pixels vs. blue when using "
+             "--use_outdoors");
 
 namespace y2022 {
 namespace vision {
 
 cv::Mat BlobDetector::ThresholdImage(cv::Mat bgr_image) {
   cv::Mat binarized_image(cv::Size(bgr_image.cols, bgr_image.rows), CV_8UC1);
+
+  const int red_delta =
+      (FLAGS_use_outdoors ? FLAGS_outdoors_red_delta : FLAGS_red_delta);
+  const int blue_delta =
+      (FLAGS_use_outdoors ? FLAGS_outdoors_blue_delta : FLAGS_blue_delta);
+
   for (int row = 0; row < bgr_image.rows; row++) {
     for (int col = 0; col < bgr_image.cols; col++) {
       cv::Vec3b pixel = bgr_image.at<cv::Vec3b>(row, col);
@@ -28,8 +43,7 @@
       int red = pixel.val[2];
       // Simple filter that looks for green pixels sufficiently brigher than
       // red and blue
-      if ((green > blue + FLAGS_blue_delta) &&
-          (green > red + FLAGS_red_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;

y2022/vision/camera_reader_main.cc

diff --git a/y2022/vision/camera_reader_main.cc b/y2022/vision/camera_reader_main.cc
index dac2100..22794d3 100644
--- a/y2022/vision/camera_reader_main.cc
+++ b/y2022/vision/camera_reader_main.cc
@@ -5,10 +5,14 @@
 // config used to allow running camera_reader independently.  E.g.,
 // bazel run //y2022/vision:camera_reader -- --config y2022/aos_config.json
 //   --override_hostname pi-7971-1  --ignore_timestamps true
+DECLARE_bool(use_outdoors);
 DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
 DEFINE_double(duty_cycle, 0.6, "Duty cycle of the LEDs");
 DEFINE_uint32(exposure, 5,
               "Exposure time, in 100us increments; 0 implies auto exposure");
+DEFINE_uint32(outdoors_exposure, 2,
+              "Exposure time when using --use_outdoors, in 100us increments; 0 "
+              "implies auto exposure");
 
 namespace y2022 {
 namespace vision {
@@ -35,8 +39,10 @@
   }
 
   V4L2Reader v4l2_reader(&event_loop, "/dev/video0");
-  if (FLAGS_exposure > 0) {
-    v4l2_reader.SetExposure(FLAGS_exposure);
+  const uint32_t exposure =
+      (FLAGS_use_outdoors ? FLAGS_outdoors_exposure : FLAGS_exposure);
+  if (exposure > 0) {
+    v4l2_reader.SetExposure(exposure);
   }
 
   CameraReader camera_reader(&event_loop, &calibration_data.message(),