From 89ed2374838f94dd37401be4158dd20f10d2e0ab Mon Sep 17 00:00:00 2001
From: Luis <schluis@posteo.de>
Date: Sun, 21 Jul 2024 09:37:47 +0200
Subject: [PATCH] Tune vision (#1407)

* tune vision

* reformat
---
 etc/parameters/default.json             |  8 ++++----
 etc/parameters/rc24_indoor/default.json | 20 +++++++++++++-------
 2 files changed, 17 insertions(+), 11 deletions(-)

diff --git a/etc/parameters/default.json b/etc/parameters/default.json
index eb891543a4..9a497acca7 100644
--- a/etc/parameters/default.json
+++ b/etc/parameters/default.json
@@ -110,21 +110,21 @@
     "vision_top": {
       "horizontal_edge_detection_source": "Luminance",
       "horizontal_edge_threshold": 20,
-      "horizontal_median_mode": "ThreePixels",
+      "horizontal_median_mode": "FivePixels",
       "horizontal_stride": 4,
       "vertical_edge_detection_source": "Luminance",
       "vertical_edge_threshold": 20,
-      "vertical_median_mode": "ThreePixels",
+      "vertical_median_mode": "FivePixels",
       "vertical_stride": 2
     },
     "vision_bottom": {
       "horizontal_edge_detection_source": "Luminance",
       "horizontal_edge_threshold": 32,
-      "horizontal_median_mode": "ThreePixels",
+      "horizontal_median_mode": "FivePixels",
       "horizontal_stride": 4,
       "vertical_edge_detection_source": "Luminance",
       "vertical_edge_threshold": 32,
-      "vertical_median_mode": "ThreePixels",
+      "vertical_median_mode": "FivePixels",
       "vertical_stride": 8
     }
   },
diff --git a/etc/parameters/rc24_indoor/default.json b/etc/parameters/rc24_indoor/default.json
index 97a223bce7..99ac245149 100644
--- a/etc/parameters/rc24_indoor/default.json
+++ b/etc/parameters/rc24_indoor/default.json
@@ -18,23 +18,29 @@
     }
   },
   "image_segmenter": {
+    "vision_top": {
+      "vertical_edge_threshold": 13,
+      "horizontal_edge_threshold": 20
+    },
     "vision_bottom": {
       "vertical_edge_threshold": 15,
-      "vertical_median_mode": "FivePixels"
-    },
-    "vision_top": {
-      "vertical_edge_threshold": 10
+      "horizontal_edge_threshold": 20
     }
   },
   "line_detection": {
-    "vision_bottom": {
-      "gradient_alignment": -0.8
-    },
     "vision_top": {
       "allowed_projected_segment_length": {
         "start": 0.02
       },
       "gradient_alignment": -0.8
+    },
+    "vision_bottom": {
+      "gradient_alignment": -0.8
+    }
+  },
+  "feet_detection": {
+    "vision_top": {
+      "minimum_feet_width": 0.03
     }
   }
 }