tune luminosity code

src/publisher_vision.cpp

@@ -47,7 +47,7 @@ PublisherVisionDebug::PublisherVisionDebug(const std::string &_unique_name,
         last_capture_(nullptr),
         it_(ros::NodeHandle())
 {
-    // if user do not provide processor's name, first processor of type ProcessorTrackerLandmarkApriltag is taken
+    // if user do not provide processor's name, first processor of type PublisherVisionDebug is taken
     auto processor_name = getParamWithDefault<std::string>(_server, prefix_ + "/processor_name", "");
 
     // search the processor
@@ -167,23 +167,25 @@ std::vector<int> PublisherVisionDebug::colorTrackAndFeatures(int _nb_feature_in_
 //    std::cout << "_max_feature_in_tracks: " << _max_feature_in_tracks << '\n';
     if (_max_feature_in_tracks != _min_feature_in_tracks)
     {
-        alpha = ((double)_nb_feature_in_track - _min_feature_in_tracks)
-                / (_max_feature_in_tracks - _min_feature_in_tracks); // to interval [0,1]
+        alpha = (double)(_nb_feature_in_track - _min_feature_in_tracks)
+                / (double)(_max_feature_in_tracks - _min_feature_in_tracks); // to interval [0,1]
     }
     else
     {
-        alpha = 0.5; // put "half luminosity as a default value"
+        alpha = 1.0; // put "full luminosity as a default value"
+//        alpha = 0.5; // put "half luminosity as a default value"
     }
 
-    if ((_min_lum + (_max_lum - _min_lum) * (1 - alpha)) > 255)
+    double lum = (_min_lum + (_max_lum - _min_lum) * alpha);
+    if (lum > 255)
     {
         color[0] = 255;
-        color[1] = round(_min_lum + (_max_lum - _min_lum) * (1 - alpha)) - 255;
-        color[2] = round(_min_lum + (_max_lum - _min_lum) * (1 - alpha)) - 255;
+        color[1] = round(lum) - 255;
+        color[2] = round(lum) - 255;
     }
     else
     {
-        color[0] = round(_min_lum + (_max_lum - _min_lum) * (1 - alpha));
+        color[0] = round(lum);
         color[1] = 0;
         color[2] = 0;
     }