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config.yml
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150 lines (124 loc) · 5.25 KB
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# VisionProcessor configuration
# Vision camera ID handled by this VisionProcessor instance.
# On multi camera fields the IDs have to be ordered according to camera_ids.png.
#cam_id: 0
# Team bot heights yml file (heights in mm)
#bot_heights_file: robot-heights.yml
camera:
# Camera driver type. Availability depending on libraries installed.
# Existing: SPINNAKER (FLIR cameras), MVIMPACT (Bluefox3 cameras), OPENCV(files, v4l2 cameras)
#driver: SPINNAKER
# Spinnaker, mvIMPACT or OpenCV(v4l2) camera id
#id: 0
# OpenCV camera device, image or video file path (if unset id is used instead)
#path: /dev/video0
# Camera resolution as reported by the camera. VisionProcessor might use half (true color) resolution internally with SPINNAKER and MVIMPACT.
# 0 = highest resolution supported by the camera
#width: 0
#height: 0
# Camera exposure time in ms to adjust brightness. Higher values lead to more motion blur. Lower values lead to a darker image.
# Camera frame rate will drop if set equal to or higher than the frame time (1 / fps_cam).
# 0.0 = automatic exposure
#exposure: 0.0
# Camera gain to adjust brightness. Higher values lead to more noise. Lower values lead to a darker image.
# Frequently changing bot identities or team colors indicate an image that is too bright (all colors becoming nearly white).
# 0.0 = automatic gain
#gain: 0.0
# Camera gamma as nonlinear brightness adjustment. Only supported on SPINNAKER and OPENCV.
# Low values reduce differences between bright and dark illuminated areas. High values increase the color contrast.
# 1.0 = no gamma
#gamma: 1.0
# Camera white balance. OUTDOOR or INDOOR for auto white balance with green or gray carpet respectively.
# (distinction between OUTDOOR and INDOOR currently only implemented for SPINNAKER backend)
#white_balance: OUTDOOR
# If you want to set manual white balance values use this format:
#white_balance:
# red: 1.0
# blue: 1.0
geometry:
# Total camera amount over the field
#camera_amount: 1
# Camera height above field in mm
# 0.0 = automated camera height calibration, this does not work if the camera looks perpendicular to the field
#camera_height: 0.0
# Field line crossings at the edges of the camera extent in pixels from the top left image corner.
# The first coordinate must be the edge with the smallest x and y field coordinate.
#line_corners:
#- [0 , 1000]
#- [0 , 0]
#- [1000, 0]
#- [1000, 1000]
# Enable field line pixel refinement.
# Disable in cluttered environments when the geometry calibration has failed multiple times in a row.
#refinement: true
# Minimum brightness difference to surrounding pixels for the classification as field line pixel (0 - 255)
#field_line_threshold: 5
# Minimum length of line segments to ensure angular stability in pixels
#min_line_segment_length: 10.0
# Maximum perpendicular offset of line segments for merging in pixels
#max_line_segment_offset: 10.0
# Maximum relative angle of line segments for merging in °
#max_line_segment_angle: 3.0
thresholds:
# Minimum mean cosine similarity (not normalized) of the blob border gradient (0 - 195075.0)
# High value lead to undetected blobs. Low values lead to an increase in false positive blob detections.
#circularity: 15.0
# Minimum circularity/(3*stddev) ball blob score
#score: 5.0
# Maximum amount of blobs processed per frame. Should not be necessary to adjust this value.
#blobs: 2000
# Minimum confidence (0.0 - 1.0)
#min_confidence: 0.2
# Min ball camera edge distance in mm
#min_cam_edge_distance: 170.0
# Maximum allowed clipping of two objects in mm
#clipping_tolerance: 10.0
# Added tolerance to geometry related operations in mm.
# Affects field border cutoff area and field line blob classification.
#geometry_tolerance: 10.0
color:
# Strength of the reference color during color updates (0.0 - 0.5-history_force/2)
#reference_force: 0.1
# Strength of the previous color during color updates (0.0 - 1.0-reference_force)
#history_force: 0.7
# Reference colors used for ball determination
#orange: [192, 128, 64]
#field: [128, 128, 128]
# Reference colors used for center blob determination
#yellow: [255, 128, 0]
#blue: [0, 128, 255]
# Reference colors used for side blob determination
#green: [0, 255, 128]
#pink: [255, 0, 128]
tracking:
# Min tracking radius in mm
#min_tracking_radius: 20.0
# Max tracked bot acceleration in m/s^2
#max_bot_acceleration: 6.5
network:
# Game controller multicast ip address
#gc_ip: "224.5.23.1"
# Game controller multicast port
#gc_port: 10003
# Vision multicast IP address
#vision_ip: "224.5.23.2"
# Vision multicast port
#vision_port: 10006
stream:
# If false no network live stream will be encoded and sent
#active: true
# Only stream raw camera footage. Useful for recordings.
#raw_feed: false
# Camera stream ip prefix
#ip_base_prefix: 224.5.23.
# Camera stream ip end base (cam_id is added to maintain separation)
#ip_base_end: 100
# Camera stream port
#port: 10100
debug:
# Ground truth file. Only used by blob and geometry benchmark.
#ground_truth: gt.yml
# Wait for geometry prior to processing frames
#wait_for_geometry: false
# Save additional debug images in img/.
#debug_images: false