|
A.R.G.U.S 2.1.0
Adaptive Real-Time Guardian for Unsafe Situations
|
All tunable safety thresholds and zone boundaries for VisionProcessor. More...
#include <VisionConfig.hpp>
Public Attributes | |
| int | expectedMarkerId = 23 |
| The ArUco marker ID the system expects to detect. | |
| float | maxSpeed = 200.0f |
| Maximum permitted marker centroid displacement in pixels/second. | |
| int | safeZoneXMin = 100 |
| Left boundary of the safe zone in pixels. | |
| int | safeZoneXMax = 500 |
| Right boundary of the safe zone in pixels. | |
| int | safeZoneYMin = 100 |
| Top boundary of the safe zone in pixels. | |
| int | safeZoneYMax = 400 |
| Bottom boundary of the safe zone in pixels. | |
| float | orientationMin = -45.0f |
| Minimum permitted marker orientation angle in degrees. | |
| float | orientationMax = 45.0f |
| Maximum permitted marker orientation angle in degrees. | |
| int | dictionaryId = cv::aruco::DICT_6X6_250 |
| ArUco dictionary used for marker detection. | |
| int | depthHueLower1 = 155 |
| Lower hue bound for pink/magenta. | |
| int | depthHueUpper1 = 165 |
| Upper hue bound for pink/magenta. | |
| int | depthHueLower2 = 255 |
| Disabled - lower > upper produces empty mask2. | |
| int | depthHueUpper2 = 0 |
| Disabled - see depthHueLower2 above. | |
| int | depthSatMin = 220 |
| int | depthSatMax = 255 |
| Maximum saturation threshold. | |
| int | depthValMin = 200 |
| int | depthValMax = 255 |
| Maximum value threshold. | |
| int | depthPixelThreshold = 500 |
| Minimum number of HSV-matching pixels required to confirm the forbidden layer is exposed. | |
| bool | depthCheckEnabled = true |
| Runtime enable/disable flag for Stage 8 colour detection. | |
Injected into VisionProcessor at construction time via the constructor parameter. Stored by value inside VisionProcessor so external changes after construction cannot affect in-flight safety decisions.
Definition at line 35 of file VisionConfig.hpp.
| bool VisionConfig::depthCheckEnabled = true |
Allows the depth check to be toggled from the UI without recompiling. Satisfies the brief requirement for mouse-adjustable parameters and supports testing of the remaining pipeline stages in isolation.
true = Stage 8 active (default, production behaviour). false = Stage 8 bypassed (testing / calibration mode).
Definition at line 195 of file VisionConfig.hpp.
Referenced by VisionProcessor::process().
| int VisionConfig::depthHueLower1 = 155 |
Definition at line 155 of file VisionConfig.hpp.
Referenced by VisionProcessor::process(), and AppController::runLiveMarkerTest().
| int VisionConfig::depthHueLower2 = 255 |
Definition at line 158 of file VisionConfig.hpp.
Referenced by VisionProcessor::process(), and AppController::runLiveMarkerTest().
| int VisionConfig::depthHueUpper1 = 165 |
Definition at line 156 of file VisionConfig.hpp.
Referenced by VisionProcessor::process(), and AppController::runLiveMarkerTest().
| int VisionConfig::depthHueUpper2 = 0 |
Definition at line 159 of file VisionConfig.hpp.
Referenced by VisionProcessor::process(), and AppController::runLiveMarkerTest().
| int VisionConfig::depthPixelThreshold = 500 |
Acts as a noise gate - isolated reflections, stray colour patches, or single-pixel sensor noise will not trigger a freeze. If false positives occur during testing, increase this value. If the system is slow to detect a genuine exposure, decrease it.
Recommended starting point: 500 pixels at 640x480 resolution.
Definition at line 182 of file VisionConfig.hpp.
Referenced by VisionProcessor::process(), and AppController::runLiveMarkerTest().
| int VisionConfig::depthSatMax = 255 |
Definition at line 164 of file VisionConfig.hpp.
Referenced by VisionProcessor::process(), and AppController::runLiveMarkerTest().
| int VisionConfig::depthSatMin = 220 |
Minimum saturation threshold. Pink is highly saturated; filters weak/washed-out pixels.
Definition at line 161 of file VisionConfig.hpp.
Referenced by VisionProcessor::process(), and AppController::runLiveMarkerTest().
| int VisionConfig::depthValMax = 255 |
Definition at line 169 of file VisionConfig.hpp.
Referenced by VisionProcessor::process(), and AppController::runLiveMarkerTest().
| int VisionConfig::depthValMin = 200 |
Minimum value (brightness) threshold. Pink is bright; filters very dark pixels.
Definition at line 166 of file VisionConfig.hpp.
Referenced by VisionProcessor::process(), and AppController::runLiveMarkerTest().
| int VisionConfig::dictionaryId = cv::aruco::DICT_6X6_250 |
DICT_6X6_250 by default - provides high inter-marker Hamming distance, reducing false positives in safety-critical contexts. Change here to switch dictionary without modifying VisionProcessor.
Definition at line 126 of file VisionConfig.hpp.
| int VisionConfig::expectedMarkerId = 23 |
Any detected marker with a different ID is treated as TOOL_NOT_DETECTED to prevent spoofing by foreign markers in the scene. Default: 23.
Definition at line 46 of file VisionConfig.hpp.
Referenced by AppController::runLiveMarkerTest().
| float VisionConfig::maxSpeed = 200.0f |
Exceeding this threshold triggers SafetyState::EXCESSIVE_SPEED. Calibrate against the robot's maximum safe operational speed projected into image space at the working distance. Default: 200.0 px/s.
Definition at line 58 of file VisionConfig.hpp.
| float VisionConfig::orientationMax = 45.0f |
Computed from corner[0] to corner[1] using atan2. Default: 45.0 degrees.
Definition at line 115 of file VisionConfig.hpp.
| float VisionConfig::orientationMin = -45.0f |
Computed from corner[0] to corner[1] using atan2. Default: -45.0 degrees.
Definition at line 107 of file VisionConfig.hpp.
| int VisionConfig::safeZoneXMax = 500 |
Centroid x must be <= safeZoneXMax. Default: 500.
Definition at line 78 of file VisionConfig.hpp.
Referenced by VisionProcessor::process().
| int VisionConfig::safeZoneXMin = 100 |
Centroid x must be >= safeZoneXMin. Default: 100.
Definition at line 71 of file VisionConfig.hpp.
Referenced by VisionProcessor::process().
| int VisionConfig::safeZoneYMax = 400 |
Centroid y must be <= safeZoneYMax. Default: 400.
Definition at line 92 of file VisionConfig.hpp.
Referenced by VisionProcessor::process().
| int VisionConfig::safeZoneYMin = 100 |
Centroid y must be >= safeZoneYMin. Default: 100.
Definition at line 85 of file VisionConfig.hpp.
Referenced by VisionProcessor::process().
1.9.8