Return of line rejection logging (#571)

Author: YukumoHunter

deploy/config/line_detection.toml

@@ -4,11 +4,11 @@ ransac_iters = 10
 # maximum number of models to fit in RANSAC
 model_iters = 100
 # residual threshold for RANSAC inliers in meters
-ransac_inlier_threshold = 0.02
+ransac_inlier_threshold = 0.025
 # maximum distance of a valid line spot from the camera in meters
 spot_max_distance = 4.0
 # minimum number of points in a valid line segment
-line_segment_min_points = 10
+line_segment_min_points = 8
 # minimum length of a line segment after merging in meters
 line_segment_min_length = 0.35
 # maximum length of a line segment after merging in meters

yggdrasil/src/vision/line_detection/mod.rs

@@ -106,11 +106,16 @@ impl<T: CameraLocation> Plugin for LineDetectionPlugin<T> {
                         .chain(),
                     debug_lines::<T>,
                     debug_lines_projected::<T>,
-                    debug_rejected_lines::<T>,
                 ),
             )
             // TODO: these debug systems should ideally all be batched over multiple cycles
             // but that needs a batching api in the debug module
+            .add_named_debug_systems(
+                Update,
+                debug_rejected_lines::<T>,
+                "Visualize rejected lines",
+                SystemToggle::Disable,
+            )
             .add_named_debug_systems(
                 Update,
                 debug_lines_inliers::<T>,
@@ -511,7 +516,7 @@ fn setup_debug<T: CameraLocation>(dbg: DebugContext) {
     // rejected lines
     dbg.log_static(
         T::make_entity_image_path("lines/rejected"),
-        &rerun::Clear::flat(),
+        &rerun::LineStrips3D::update_fields(),
     );
 }
 
@@ -640,7 +645,21 @@ fn debug_rejected_lines<T: CameraLocation>(
     dbg: DebugContext,
     camera_matrix: Res<CameraMatrix<T>>,
     rejected: Query<(&Cycle, &RejectedLines), (With<T>, Added<RejectedLines>)>,
+    cycle: Res<Cycle>,
+    mut last_logged: Local<Option<Cycle>>,
 ) {
+    if rejected.is_empty()
+        && last_logged.is_some_and(|last_logged_cycle| {
+            last_logged_cycle.0 + LINE_DEBUG_CLEAR_CYCLES < cycle.0
+        })
+    {
+        dbg.log_with_cycle(
+            T::make_entity_image_path("lines/rejected"),
+            *cycle,
+            &rerun::LineStrips2D::update_fields().with_strips(std::iter::empty::<&[(f32, f32)]>()),
+        );
+    }
+
     for (cycle, lines) in rejected.iter() {
         dbg.log_with_cycle(
             T::make_entity_image_path("lines/rejected"),
@@ -665,13 +684,15 @@ fn debug_rejected_lines<T: CameraLocation>(
                     .rejections
                     .iter()
                     .map(|r| match r {
-                        Rejection::TooShort => (255, 0, 0),
+                        Rejection::TooShort => (0, 120, 120),
                         Rejection::TooLong => (0, 255, 0),
                         Rejection::NotEnoughSpots => (0, 0, 255),
                         Rejection::FailedWhiteTest => (0, 255, 255),
                     })
                     .collect_vec(),
             ),
         );
+
+        *last_logged = Some(*cycle);
     }
 }