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fselius / qtcopter

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Prepare lighting calibration for light-dependent algorithms #42

Open Vasily opened 9 years ago

Vasily commented 9 years ago

I asked Ohad about this last meeting (because currently our performance is quite light dependent), and he told me the algorithms shouldn't really work perfectly with any lighting, and that we should make a calibration procedure to make it work for a specific lighting.

What I mean is we need to make a plan of how we choose the min/max white values in the DetailedFind/DistanceFind. Then we should either make it an automatic script which can be run, or a manual (but quick) calibration procedure.

Also, we obviously need to make sure the algorithms still work under slightly different lighting after calibration. (e.g. if it's suddenly cloudy)

@fwalch @roeemz what do you guys think?

Vasily commented 9 years ago

We've disabled auto exposure/shutter/gain in the ptgrey launch file in 46ac23108e82fbc60f5d08f88fc2db3a35441b7b. Exposure is set to 0 (It is used to correct auto exposure, if I'm not mistaken. We don't use it as we set the gain manually) shutter = 10ms = 1/100 sec, we need to check if this is fast enough that we don't get smudged pictures. gain = 20.0 (min=-10, max=30), this is the parameter we will change for every scenario. We've also set the manual shutter to 4 (on the lens).

Vasily commented 9 years ago

Also, for some reason, shutter time doesn't to go down to 10ms, but it is set to 30ms using the current configuration. We can then change the shutter using FlyCap2 configuration tool, but we need to make it work with the launch file configuration.