vision_constants.py

__author__ = 'broecker'

CHECK_LASER = ['M20_h', 'M20_100_HD_v', 'M20_100_HU_v', 'RV20_v']

PIXEL_TO_CM = 8.0

MAX_AREA = 50000000

MAX_AREA_MERGE = 10000000

MIN_AREA = 100000
MAX_LEN = 1500
MIN_LEN = 10

MIN = 0.1
MAX = 1.2

# #Filter depth values openni2
MIN_DEPTH = 0.2
DEPTH_TRESH = 1.0
MAX_DEPTH = 1.2

# use legacy openni1
OPENNI_LEGACY = False

# CROSS_OFF_X = 0
# CROSS_OFF_Y = 0
CROSS_OFF_X = 0
# CROSS_OFF_Y = -54

CROSS_OFF_Y = 0


FULL_VISUALIZE = False

DIST_BETWEEN_CONTOURS = 80  # in m


MIN_POINT_LASER_DIS = 13
MIN_OBJECT_LASER_COUNT = 3


# #crop filter
crop_y = [20, 460]
crop_x = [20, 620]

# #For placeing the windows
size_x = crop_x[1] - crop_x[0] + 50
size_y = crop_y[1] - crop_y[0] + 50

MAX_INTESITY_RGB = 130
RGB_DETECT_GRAY = False

FAKE_PLATFORM_HEIGHT = 0.38

#CONTOUR_MAX_AREA = 0.0120
#CONTOUR_MIN_AREA = 0.00070

CONTOUR_MAX_AREA = 0.0015
CONTOUR_MIN_AREA = 0.00008

CONTAINER_MAX_AREA = 0.052
CONTAINER_MIN_AREA = 0.030

USE_JAVA_CLASSIFIER = False

DEPTH_CAMERA_FX = 615.4806518554688
DEPTH_CAMERA_FY = 615.4807739257812
DEPTH_CAMERA_CX = 317.5606994628906
DEPTH_CAMERA_CY = 248.85418701171875

RGB_CAMERA_FX = 615.4806518554688
RGB_CAMERA_FY = 615.4807739257812
RGB_CAMERA_CX = 317.5606994628906
RGB_CAMERA_CY = 248.85418701171875

ROUND_OBJECTS = ['Distance_Tube', 'Bearing']
SHORT_AXIS_OBJECTS = ["EM-01_horizontal", "EM-02_horizontal"]
LONG_AXIS_OBJECTS = ["AX-09_horizontal", "AX-03_horizontal"]
CIRCLE_DETECTION_OBJECTS = ["AX-01_horizontal",  "AX-16_horizontal"]
LINE_DETECTION_OBJECTS = ["AX-16_vertical"]
ORIGINAL_ANGLE_OBJECTS = [""]