Apparently finished appendices

documentation/appendix/colorpicker.tex

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+\section{Color calibration}
+
+All our detection algorithms require color calibration, and when the lighting
+conditions on the field change, colors might have to be newly calibrated. For
+us this meant that a tool was necessary, that could simplify this process as
+far as possible. For this reason, we implemented a small OpenCV-based program,
+that we called \verb|Colorpicker|. This program can access various video
+sources, as well as use still images for calibration. The main interface
+contains the sliders for adjusting the HSV interval, as well as the video area,
+demonstrating the resulting binary mask. The colors can be calibrated for three
+targets: ball, goal and field; and the quality of detection, depending on the
+chosen target is demonstrated. When the program is closed, the calibration
+values are automatically saved to the settings file \verb|nao_defaults.json|.
+The interface of the Colorpicker is demonstrated in the figure \ref{p figure
+  colorpicker}.
+
+\begin{figure}[ht]
+  \includegraphics[width=\textwidth]{\fig colorpicker}
+  \caption{Interface of the Colorpicker}
+  \label{p figure colorpicker}
+\end{figure}