Configuration

Configuring visionParams.properties

Graphical configuration

MergeVision has an integrated graphical configuration editor that can be accessed by running the program in development mode, see Development for information on how to do this.

Manual configuration

The configuration has a wide variety of parameters that it takes, this file is in a non standard format that is name: which defines a profile, then every line after that starts with 2 spaces will be considered part of that profile until another one is defined.

Parameters

• minSaturation The minimum saturation for the colour threshold
• maxSaturation The maximum saturation for the colour threshold
• minValue The minimum value for the colour threshold
• maxValue The maximum value for the colour threshold
• minHue The minimum hue for the colour threshold
• maxHue The maximum hue for the colour threshold
• type The type of device to read the image from (WIP and only currently supports usb)
• identifier The identifier for the device to be read from (usb device number for usb)
• erodeDilateIterations The number of erode dilate iterations to run on the image to reduce noise (note: very slow operation so don't increase this too much)
• distToCentreImportance The importance between 0 and 1 that the preferred target is closest to the centre instead of the largest target (adjust this to be closer to 1 if your robot cannot turn well, but if it can turn easily then closer to 0 is good)
• imgDumpPath The path to save vision images to (should be on removable media that is mounted on a pi because the sd card has limited writes)
• imgDumpTime The number of seconds between saving vision images (note that this can contain decimals up to double precision)
• slope The slope used to calculate the distance from vision objects (MergeVision takes the height of the object and treats it like a point on a line to find the distance)
• yIntercept The y intercept used to calculate the distance from vision objects
• resolution The resolution to scale images to before MergeVision processes them (smaller makes it much faster, note that around 160x120 or 80x60 is recommended for raspberry pis)
• imageFile The file to load a static image from (for debugging stuff)
• group 1 or 0 which represents if MergeVision should try to group objects based on angles (1=yes 0=no)
• groupAngle The angle that the objects are at (1 object at this angle and the other 1 at negative this angle)
• minArea The minimum percentage of the image (in decimal) that any object needs to be in order to be recognized