What it does ¶
ALDarknessDetection enables to check whether or not the robot is in a dark environment.
A darkness value is computed for each frame returned by the camera. This value is stored in the ALMemory . When the robot detects for the first time that that the environment around it is dark (i.e the darkness value is greater than a threshold) an event is raised.
How it works ¶
This function first computes a value between 0 and 100 corresponding to the lighting conditions of the environment around the robot:
- 0: bright environment
- 100: dark environment
This value is then compared to a darkness threshold:
- if it is smaller than the threshold, the surrounding environment is not considered as dark.
- if it is greater than the threshold, the surrounding environment is considered as dark.
The darkness threshold value can be accessed with the function
It has a default value of 60 but it can be changed with
Performances and Limitations ¶
The camera AutoExposition parameter (and the AutoGain parameter, if it exists) of the camera must be activated for this module to work properly.