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Fix bebop_orangeavoid_course2017 defines and tweak color filter

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This commit is contained in:
Tom van Dijk
2018-01-19 15:40:46 +01:00
parent 2a26cdfc6d
commit 868ce39dba
1 changed files with 17 additions and 18 deletions
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conf/airframes/tudelft/bebop_orangeavoid_course2017.xml
+17 -18
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@@ -9,19 +9,17 @@
<target name="ap" board="bebop"/>
<!-- Front Camera parameters -->
<define name="H264_ROTATE" value="TRUE" />
<define name="MT9F002_INITIAL_OFFSET_X" value="416+2704-480" /> <!-- 480 / 960 / 1920 / 3840 (horion for theta = 0 -> 2704) -->
<define name="MT9F002_INITIAL_OFFSET_Y" value="1680-1040" /> <!-- 420 / 840 / 1680 / 3360 -->
<define name="MT9F002_SENSOR_WIDTH" value="2*480" /> <!-- 480 / 960 / 1920 / 3840 -->
<define name="MT9F002_SENSOR_HEIGHT" value="2*1040" /> <!-- 420 / 840 / 1680 / 3360 -->
<define name="MT9F002_OUTPUT_WIDTH" value="240" /> <!-- 480 / 960 / 1920 / 3840 -->
<define name="MT9F002_OUTPUT_HEIGHT" value="520" /> <!-- 420 / 840 / 1680 / 3360 -->
<define name="MT9F002_INITIAL_OFFSET_X" value="0.09" /> <!-- Offset from center position [-0.5..0.5]. Set to 0.09 to center horizon. -->
<define name="MT9F002_INITIAL_OFFSET_Y" value="0." /> <!-- Offset from center position [-0.5..0.5] -->
<define name="MT9F002_OUTPUT_WIDTH" value="240" /> <!-- Output dimensions -->
<define name="MT9F002_OUTPUT_HEIGHT" value="520" /> <!-- Output dimensions -->
<define name="MT9F002_TARGET_FPS" value="30" />
<define name="MT9F002_TARGET_EXPOSURE" value="4" />
<define name="MT9F002_GAIN_GREEN1" value="8.0" />
<define name="MT9F002_GAIN_GREEN2" value="8.0" />
<define name="MT9F002_GAIN_RED" value="8.0" />
<define name="MT9F002_GAIN_BLUE" value="8.0" />
<define name="MT9F002_TARGET_EXPOSURE" value="20" />
<define name="MT9F002_GAIN_GREEN1" value="4.0" />
<define name="MT9F002_GAIN_GREEN2" value="4.0" />
<define name="MT9F002_GAIN_RED" value="5.0" />
<define name="MT9F002_GAIN_BLUE" value="5.0" />
<define name="MT9F002_OUTPUT_SCALER" value="0.25"/>
<!-- Subsystem section -->
<module name="telemetry" type="transparent_udp"/>
@@ -63,14 +61,15 @@
</module>
<module name="orange_avoider" />
<module name="video_rtp_stream">
<configure name="VIEWVIDEO_HOST" value="192.168.42.65" />
<configure name="VIEWVIDEO_BROADCAST" value="FALSE" />
<define name="VIEWVIDEO_CAMERA" value="front_camera" />
<define name="VIEWVIDEO_SHOT_PATH" value="/data/ftp/internal_000" />
<define name="VIEWVIDEO_FPS" value="18" />
<define name="VIEWVIDEO_WRITE_VIDEO" value="FALSE" />
<define name="VIEWVIDEO_VIDEO_FILE" value="orangeAvoider" />
<define name="VIEWVIDEO_STREAM_VIDEO" value="TRUE" />
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1" />
<define name="VIEWVIDEO_SHOT_PATH" value="/data/ftp/internal_000" />
<!-- <define name="VIEWVIDEO_WRITE_VIDEO" value="FALSE" />
<define name="VIEWVIDEO_VIDEO_FILE" value="orangeAvoider" /> -->
</module>
</modules>
@@ -108,7 +107,7 @@
<!-- Cyberzoo bebop1 values -->
<section name="COLORFILTER" prefix="ORANGE_AVOIDER_">
<define name="LUM_MIN" value="20"/>
<define name="LIM_MAX" value="255"/>
<define name="LUM_MAX" value="180"/>
<define name="CB_MIN" value="75"/>
<define name="CB_MAX" value="145"/>
<define name="CR_MIN" value="167"/>