Tracking only one Light

[wingnut1705]

Our team wants us to only track one light instead of two. Does anyone know how to alter Kevin Watson's code so that the camera only tracks one light?

[Alan Anderson]

Someone else on the forum recently suggested having it use one of the bounding box corner values instead of the centroid values. You can pick a left or right corner and end up consistently tracking a single light.

[efoote868]

I believe you could also change your minimum confidence value.

[ace123]

The way the example code does it is by taking the leftmost coordinate (x0) and adding a constant to it. This way it ignores the median value of the box.

int lowright_x = packet.x1, centroid_x = packet.mx, upleft_x = packet.x0, target_width=packet.x1-packet.x0;

if ( target_width > WIDEST_ONE_LIGHT  ) { // looking at two lights?
    targets = 2;
    
    if ( ( lowright_x - centroid_x) < (centroid_x - upleft_x) ) {
        // the centroid is nearer the right 
        target_x = lowright_x- HALF_LIGHT_WIDTH  ;
    } else {
        // the centroid is nearer the left
        target_x = upleft_x + HALF_LIGHT_WIDTH  ;
    }
} else { // the target is NOT wide, it's one light
    targets = 1;
    target_x = centroid_x; // target that light
}