Colour Conundrum: Help Jugglebot Find Its New Look! | PDJ #17
ฝัง
- เผยแพร่เมื่อ 31 พ.ค. 2024
- Jugglebot's color conundrum needs your help! As we move on to 3D printing the parts for the next version of our juggling robot, we've hit a snag: the current color combination of red Jugglebot and orange balls is making ball tracking a bit tricky. It's time for a change, but I can't decide between changing Jugglebot's color or the balls' color. That's where you come in!
In this video, I present different color options for both Jugglebot and the juggling balls, weighing the pros and cons of each. But I want your input! Watch the video, check out the color choices, and let me know your favorite combination in the comments. Your vote will help shape the final design of Jugglebot!
Join us on this colorful journey and be a part of Jugglebot's progress. Don't forget to like this video and subscribe to the channel to stay updated on all the latest developments!
##### Links to things mentioned in the video #####
Depth cameras:
docs.luxonis.com/projects/har...
3D Fillies:
3dfillies.com/petg-filament-1...
Jugglequip Infinities:
www.jugglequip.com/infinities
Github page with the filtering code:
github.com/Project-DeepBlue-J...
00:00 - Intro
00:20 - Why Does Colour Matter?
01:41 - How to Fix This Dilemma?
04:30 - What's YOUR Favourite Colour Combo?
05:14 - What's To Come in The Next Few Videos (Probably) - วิทยาศาสตร์และเทคโนโลยี
![โอ้มายก๊อด! ไม่ถึงชั่วโมงหมดเป็นแสน 😅 [cc] แดนแพทตี้ SS2 | EP.42 |](http://i.ytimg.com/vi/OH2ShXfO6tA/mqdefault.jpg)
Hey everyone! There are lots of colour options available to Jugglebot right now. Which is your favourite? Make sure you give a thumbs up to the combo you like the most, and if you can't find the option you like, post it as a comment! I'm keen to see how Jugglebot will end up!
Red Jugglebot, green balls
Black Jugglebot, orange balls
I understand you've already made your choice, but here's a suggestion: consider making the robot black to minimize its visibility in camera images. As for the ball, opting for green could be beneficial since camera sensors typically have a Bayer pattern (R, G, G, B) with double the resolution for green pixels. If you still encounter issues with other objects in the room, you might want to try using a green fluorescent color for the ball and illuminating it with UV light, ensuring it truly stands out from its surroundings.
Black Jugglebot, purple (pink?) balls
I feel like green balls look better, but if you ever want to take Jugglebot outside it might get confused by the plants. Pink/magenta is probably the most unique colour
@@daniel996666 True, I hadn't thought about that. Would also eliminate blue balls (blue sky)... I think for now I'm happy with Jugglebot staying as an indoor-only robot, and just figuring out outdoor use when/if the time comes. Good thinking!
Black upper Jugglebot, red lower Jugglebot, red balls
Blue Jugglebot, orange balls
Green Jugglebot, orange balls
From a technical point of view I'd go with green for the balls because green is the opposite hue to red AND cameras are most sensitive to green AND it is easy to pull the green channel from an RGB signal. From an aesthetic point of view, I don't really care. The first goal is usually to make it work then make it right then make it fast and finally, make it pretty.
Good points! I didn't know that about camera sensitivity! I'll have a read about that.
As for the RGB signal, I'm not sure why but most filtering that I've found works with HSV. Perhaps the S/V channels give a little more control over the exact color being filtered? I'll give RGB filtering a go as well and see if that makes any difference.
And yes, I agree about function > form, though I figured this is something where function should be relatively unaffected and it could be a fun way to engage with you all a bit more ☺️
Yeah, you should get the brightest and sharpest image when looking at a green object. Cameras, film and our eyes are most sensitive to green. Not a huge difference but it makes green a good choice.
I take back what I said about using the green channel for filtering. I forgot that you will have a mostly white background so the ball wouldn't stand out. Using the HSV colour space is a good option and using hue and saturation thresholding as you have in your sample code is fast and simple.
BTW,
Hue Min: 6
Hue Max: 10
Saturation Min: 60
Saturation Max: 98,
give pretty good results on your sample image. It would probably be better to test it with and actual image though. CGI images are a bit too perfect and can give unrealistic results.
I see what you mean about engaging your viewers too. You sucked me in 😉
One option for filtering in the RGB colour space would to be use somethiing based on the Vlahos aglorithm (used for green screen extraction).
Maybe something like this...
def filter_vlahos(pixel):
r, g, b, a = pixel
m = g - gain_b*b - gain_r*r
if m > threshold:
return (255, 255, 255, a)
else:
return (0, 0, 0, a)
where:
0
@@hooks2998 Wow, I'm very excited by your testing here! Nice work 😃
I did a bit of reading into HSV filtering and it looks like its a lot more robust with respect to lighting conditions; in varied light conditions hue won't change much, but RGB will.
I agree on real-world testing, and you'll see a bit of that towards the end of my next video 😉
Vlahos algorithm looks very interesting. I will do some more reading into that! Thanks heaps for the suggestion!
I like the idea of red lower blue upper and orange or red balls.
have you considered painting the balls? specifically, you could try getting retro reflective paint(a quick search turned up Albedo100 Reflective Spray Paint), and using a light near your camera. Could help get really clear contrast of the ball independent of wall color, environment, etc. I imagine you've picked a color by now, but could always add it later if you need more contrast
Interesting idea! Reminds me of the retroreflective paint/markers that are used with "proper" tracking systems like OptiTrack. Might be worth looking into if I'm getting dodgy data! Cheers 😊