Min brightness filter #254

vichua2006 · 2025-02-14T01:12:54Z

No description provided.

… configs

HermanG05

Reviewed

HermanG05 · 2025-02-15T16:44:11Z

modules/detect_target/detect_target_brightspot.py

+        threshold_used, min_filtered_image = cv2.threshold(
+            grey_image, self.__config.min_brightness_threshold, 255, cv2.THRESH_TOZERO
+        )
+


It might be a good idea to add a check after this to see whether the method was successful before continuing

Just a quick question, why are you using THRESH_TOZERO while the original one uses THRESH_BINARY? Is there a difference?

It might be a good idea to add a check after this to see whether the method was successful before continuing

Roger that, will do the error check.

Just a quick question, why are you using THRESH_TOZERO while the original one uses THRESH_BINARY? Is there a difference?

I was looking at docs, and it seems that THRESH_BINARY sets all values greater than the threshold to a specified maximum value (255 in this case). I thought that would defeat the purpose of the percentile filter afterwards, since whatever passed the min brightness would be set to 255 and automatically pass the percentile filter as well, regardless of its original value. THRESH_TOZERO sets values lower than the threshold to 0, but keeps values above the threshold as they are, and allows them to be filtered again by the percentile filter.

but now that I'm looking at the filters again, maybe it doesn't matter too much if the percentile filter is set to 99.0.

maxlou05

Reviewed

maxlou05 · 2025-02-15T23:00:24Z

modules/detect_target/detect_target_brightspot.py

+        threshold_used, min_filtered_image = cv2.threshold(
+            grey_image, self.__config.min_brightness_threshold, 255, cv2.THRESH_TOZERO
+        )
+


Just a quick question, why are you using THRESH_TOZERO while the original one uses THRESH_BINARY? Is there a difference?

maxlou05 · 2025-02-15T23:01:03Z

config.yaml

    #     filter_by_area: True
    #     min_area_pixels: 50
    #     max_area_pixels: 640
+    #     min_brightness_threshold: 50


please make this a lot higher, like at least 200, probably 225

please make this a lot higher, like at least 200, probably 225

I originally had it at 200, but was failing the unit and the integration tests. It was able to detect the brightspots in the integration test at 100, and passed the unit test at 50. What should I do?

… configs

…parameters

…uter-vision-python into min_brightness_filter

…it tests

maxlou05

Reviewed

maxlou05 · 2025-03-19T23:15:56Z

modules/detect_target/detect_target_brightspot.py

        filter_by_area: Whether to filter by area.
        min_area_pixels: Minimum area in pixels.
        max_area_pixels: Maximum area in pixels.
+        min_brightness_threshold: Minimum brightness threshold for bright spots.


min_brightness_threshold: Minimum absolute brightness of individual pixels to be considered min_average_brightness_threshold: Minimum absolute average brightness of detected blobs

maxlou05 · 2025-03-19T23:16:27Z

modules/detect_target/detect_target_brightspot.py

+        # cv2.imshow("Thresholded", bw_image)  # type: ignore
+        # cv2.waitKey(0)  # type: ignore
+


maxlou05 · 2025-03-19T23:17:16Z

modules/detect_target/detect_target_brightspot.py

        )
        if threshold_used == 0:
-            self.__local_logger.error(f"{time.time()}: Failed to threshold image.")
+            self.__local_logger.error(f"{time.time()}: Failed to percentile threshold image.")


Don't print time.time(), just "Failed to percentile threshold image"

maxlou05 · 2025-03-19T23:18:06Z

modules/detect_target/detect_target_brightspot.py

        if len(keypoints) == 0:
-            self.__local_logger.info(f"{time.time()}: No brightspots detected.")
+            self.__local_logger.info(
+                f"{time.time()}: No brightspots detected (before blob average filter)."


Don't print time.time()

maxlou05 · 2025-03-19T23:19:51Z

modules/detect_target/detect_target_brightspot.py

+        # A lack of detections is not an error, but should still not be forwarded
+        if len(filtered_keypoints) == 0:
+            self.__local_logger.info(
+                f"{time.time()}: No brightspots detected (after blob average filter)."


Don't print time.time()

maxlou05 · 2025-03-19T23:22:16Z

modules/detect_target/detect_target_brightspot.py

        # Annotate the image (green circle) with detected keypoints
        image_annotated = cv2.drawKeypoints(
-            image, keypoints, None, (0, 255, 0), cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS
+            image, filtered_keypoints, None, (0, 255, 0), cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS
        )


Can we move all of this inside of the if statement on line 269 (only annotate images if needed)

- deleted uncessary comments - slight annotation refactor - set integration test back to not saving image

maxlou05

Approved for temporary Flight test integration integration

…tspot

vichua2006 added 2 commits February 13, 2025 18:53

implemented min brightness filter in detect target added correspoding…

11683ab

… configs

passed linters and py tests

a8fe876

HermanG05 reviewed Feb 15, 2025

View reviewed changes

maxlou05 reviewed Feb 15, 2025

View reviewed changes

vichua2006 added 11 commits February 17, 2025 13:34

added min brightness filter error checking

cf55564

implemented min brightness filter in detect target added correspoding…

3e814ab

… configs

passed linters and py tests

51601e9

added min brightness filter error checking

834ad07

combined percentile and min brightness threshold by taking maximum value

a7e902d

given up on min brightness filter and moving back to tuning original …

4af7e51

…parameters

Merge branch 'min_brightness_filter' of https://github.com/UWARG/comp…

fc6e4ae

…uter-vision-python into min_brightness_filter

implemented blob average brightness filter

379d6d3

ran formatters for average brightness filter and attempted to pass un…

ba55fdf

…it tests

Merge branch 'main' into min_brightness_filter

3b760c6

adjusted config.yaml for less false detection

7b33fc7

maxlou05 reviewed Mar 19, 2025

View reviewed changes

deleted specified time printing and made other minor changes

6b28cd2

- deleted uncessary comments - slight annotation refactor - set integration test back to not saving image

maxlou05 approved these changes Mar 20, 2025

View reviewed changes

removed the remaining time printing statements in detect target brigh…

4991170

…tspot

vichua2006 merged commit 030287d into main Mar 20, 2025
1 check failed

vichua2006 deleted the min_brightness_filter branch March 20, 2025 15:06

		# cv2.imshow("Thresholded", bw_image) # type: ignore
		# cv2.waitKey(0) # type: ignore

Min brightness filter #254

Min brightness filter #254

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vichua2006 commented Feb 14, 2025

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