VisionConfig.hpp

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#pragma once
 
#include <opencv2/objdetect/aruco_detector.hpp>
 
struct VisionConfig {
 
    // Marker Identification
 
    int expectedMarkerId = 23;
 
    // Speed Threshold
 
    float maxSpeed = 200.0f;
 
    // Safe Zone (pixels, full camera frame coordinates)
    //
    // Defines a rectangular region within which the marker centroid must
    // remain for the system to report SAFE. Any centroid outside this
    // rectangle triggers SafetyState::OUTSIDE_ALLOWED_ZONE.
 
    int safeZoneXMin = 100;
 
    int safeZoneXMax = 500;
 
    int safeZoneYMin = 100;
 
    int safeZoneYMax = 400;
 
    // Orientation Limits (degrees, image plane)
    //
    // Defines the permitted angular range of the marker in the image plane.
    // Angles are computed from the marker corner positions using atan2.
    // Any angle outside [orientationMin, orientationMax] triggers
    // SafetyState::INVALID_ORIENTATION.
 
    float orientationMin = -45.0f;
 
    float orientationMax = 45.0f;
 
    // ArUco Dictionary
 
    int dictionaryId = cv::aruco::DICT_6X6_250;
 
    // Depth layer colour detection
    //
    // The forbidden layer is a specific playdough colour (pink/magenta) placed
    // beneath the permitted cutting layers. When this colour becomes visible
    // inside the ROI the tool has exceeded its permitted depth and the robot
    // must freeze and retract immediately.
    //
    // Changed from green to pink (RGB ~200-230 / 20-30 / 130-140) because
    // green detection was unreliable near windows—varying daylight made green
    // appear as black, blue, or white. Pink is more distinctive and stable
    // under mixed fluorescent + daylight conditions.
    //
    // HSV is used in preference to BGR because it separates colour (hue)
    // from brightness (value), making detection robust under variable
    // lighting conditions — critical for a physical hardware demo under
    // lab fluorescent lighting.
    //
    // OpenCV HSV channel ranges:
    //   H (hue):        0 – 179   (half of the 360° colour wheel)
    //   S (saturation): 0 – 255
    //   V (value):      0 – 255
    //
    // Pink does not wrap around the HSV wheel, so only range 1 is needed.
    // Range 2 remains disabled by setting depthHueLower2 > depthHueUpper2,
    // which causes cv::inRange to produce an empty mask2 so the
    // bitwise_or in Stage 8 reduces to mask1 alone.
 
    int depthHueLower1 = 155;   
    int depthHueUpper1 = 165;   
 
    int depthHueLower2 = 255;   
    int depthHueUpper2 = 0;     
 
    int depthSatMin = 220;      
 
    int depthSatMax = 255;      
 
    int depthValMin = 200;      
 
    int depthValMax = 255;      
 
    int depthPixelThreshold = 500;
 
    bool depthCheckEnabled = true;
};