From b51b3cc78fd25671d5d40c214e77acbffa8afde4 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Sun, 10 Apr 2022 23:17:20 +0200
Subject: [PATCH] tune luminosity code
---
src/publisher_vision.cpp | 18 ++++++++++--------
1 file changed, 10 insertions(+), 8 deletions(-)
diff --git a/src/publisher_vision.cpp b/src/publisher_vision.cpp
index 578301b..cf538bf 100644
--- a/src/publisher_vision.cpp
+++ b/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;
}
--
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