Tune feet detection (#1362)

* tune feet detection * tune outdoor
HULKs · Jul 19, 2024 · c8e7c0b · c8e7c0b
1 parent e0db67a
commit c8e7c0b
Show file tree

Hide file tree

Showing 2 changed files with 21 additions and 7 deletions.
diff --git a/etc/parameters/default.json b/etc/parameters/default.json
@@ -14,15 +14,15 @@
   "feet_detection": {
     "vision_top": {
       "enable": true,
-      "maximum_cluster_distance": 0.2,
-      "minimum_consecutive_segments": 7,
-      "minimum_luminance_standard_deviation": 7,
-      "minimum_samples_per_cluster": 8,
-      "minimum_feet_width": 0.06,
-      "minimum_segment_height": 0.15
+      "maximum_cluster_distance": 0.25,
+      "minimum_consecutive_segments": 5,
+      "minimum_luminance_standard_deviation": 5,
+      "minimum_samples_per_cluster": 5,
+      "minimum_feet_width": 0.0,
+      "minimum_segment_height": 0.08
     },
     "vision_bottom": {
-      "enable": true,
+      "enable": false,
       "maximum_cluster_distance": 0.2,
       "minimum_consecutive_segments": 7,
       "minimum_luminance_standard_deviation": 7,

diff --git a/etc/parameters/rc24_outdoor/default.json b/etc/parameters/rc24_outdoor/default.json
@@ -82,5 +82,19 @@
         "start": 50
       }
     }
+  },
+  "feet_detection": {
+    "vision_top": {
+      "enable": true,
+      "maximum_cluster_distance": 0.25,
+      "minimum_consecutive_segments": 6,
+      "minimum_luminance_standard_deviation": 10,
+      "minimum_samples_per_cluster": 6,
+      "minimum_feet_width": 0.0,
+      "minimum_segment_height": 0.12
+    },
+    "vision_bottom": {
+      "enable": false
+    }
   }
 }