ASUS Camera Settings

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You can obtain a list of camera settings in Tekkotsu by typing "set Drivers.Camera.QueryOptions=true" at the HAL command line. The results are summarized in the table below.

Control Default Range
Brightness 25 10-50
Contrast 8 0-16
Saturation 128 0-255
Hue 0 0-16
Gamma 16 1-31
Gain 8 0-16
White Balance Temperature 4650 2800-6500
Sharpness 4 0-15
Backlight Compensation 1 0-2
Power Line Frequency 2 (60 Hz) 0-2

You can change these settings to adapt the camera to the current lighting conditions. The most useful ones to change are usually Brightness and Saturation.

Recommended Settings

The default settings work pretty well, except for the following recommended changes:

  • Backlight Compensation = 0 or 1 depending on overall brightness
  • Brightness = 40 to 50 (for Backlight Compensation=1) or 20 to 30 (for Backlight Compensation=0)
  • Saturation = 200 to 220

Note: the present of white maze walls can have a substantial effect on camera performance. Settings tuned when walls are present will not work as well when the walls are removed. If you need to run the robot in multiple environments you should develop a separate set of tuned settings for each one. These can be saved in different HAL plist files so you don't have to manually adjust the settings every time.