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Commit History
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feat: scan continuously while detecting motion
Replace step-and-pause scanning with a smooth head sweep. While the head moves, a new ScanDetector cancels the camera's own motion by fitting a homography to tracked background features, warping the older frame onto the newer one, and differencing them. The settings page gets a slider for its threshold and shows the aligned difference while scanning.a9f58f8 -
feat: lower default minimum blob size to 0.02% of the image
Also extend the slider down to 0.01% so there is room below the new default.1593215 -
feat: make motion detection more sensitive by default
Lower VAR_THRESHOLD from 25 to OpenCV's default of 16 and MIN_BLOB_FRAC from 0.5% to 0.2% of the image, so objects down to ~40px are tracked.fdd3513 -
feat: tune detection sensitivity live from the settings page
Add sliders for the MOG2 change threshold and minimum blob size, and box the largest blob in red on the motion map when it is too small to track.f9a8eeb -
fix: stop discarding darker objects as shadows
MOG2 shadow detection classified anything moderately darker than the background as shadow, so e.g. gray clothes against a white wall were never detected. Treat every change as motion instead.5547235 -
feat: enlarge and label the motion map
Show the camera view at up to 1280px wide with the two masks side by side underneath, each labeled, and move the robot state above the map.bd7d739 -
feat: show live motion map on the settings page
Add a debug view with the camera frame (largest blob boxed), the raw MOG2 mask, and the cleaned mask, plus what the robot is currently doing.6b9f2e3 -
feat: add movement tracker app
Reachy Mini app that turns its head or body toward the largest moving object, using OpenCV MOG2 background subtraction and blob detection.6ebcdad