Visual detection of haloclines
Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for visually detecting a halocline. In some implementations, a method includes moving a camera through different depths of water within a fish enclosure, capturing, at the different depths, images of fish, determining that changes in focus in the images correspond to changes in depth that the images were captured, and based on determining that the changes in focus in the images correspond to the changes in depths that the images were captured, detecting a halocline at a particular depth.
1. A computer-implemented method comprising:
obtaining, for each of multiple vertical positions in a water column, one or more images that were taken at the vertical position in the water column;
for each of the multiple vertical positions in the water column, determining a respective quantity of in-focus pixels and a respective quantity of out-of-focus pixels for each of the one or more images that were taken at the vertical position in the water column;
for each of the multiple vertical positions in the water column, determining a ratio that is based on the respective quantity of in-focus pixels and the respective quantity of out-of-focus pixels for each of the one or more images that were taken at the vertical position in the water column;
generating, a distribution that correlates the determined ratios with the multiple vertical positions;
determining a vertical position of a cline within the water column based at least on the generated distribution; and
adjusting operation of one or more items of aquaculture equipment based on determining the depth of the cline within the water column.
2. The method of claim 1 , wherein the cline comprises a thermocline.
3. The method of claim 1 , wherein determining a vertical position of the client within the water column comprises determining a particular vertical position in which objects in images taken at the particular vertical position appear blurrier than objects in images taken at vertical positions above or below the particular vertical position.
4. The method of claim 1 , wherein adjusting the operation of the one or more items of aquaculture equipment comprises:
deploying deep feeding lights to attract fish below the cline.
5. The method of claim 1 , wherein adjusting the operation of the one or more items of aquaculture equipment comprises:
deploying a subfeeder below the cline.
6. The method of claim 1 , wherein adjusting the operation of the one or more items of aquaculture equipment comprises:
adjusting a height of an enclosure below the cline.
7. The method of claim 1 , wherein adjusting the operation of the one or more items of aquaculture equipment comprises:
activating delousing equipment near the vertical position of the cline.
8. The method of claim 1 , wherein adjusting the operation of the one or more items of aquaculture equipment comprises:
adjusting a maximum pellet depth for a feeder to occur at or above the vertical position of the cline.
9. The method of claim 1 , wherein adjusting the operation of the one or more items of aquaculture equipment comprises:
adjusting a feeding rate of a feeder based on the vertical position of the cline.
10. A non-transitory computer storage medium encoded with a computer program, the computer program comprising instructions that when executed by one or more processors cause the one or more processors to perform operations comprising:
obtaining, for each of multiple vertical positions in a water column, one or more images that were taken at the vertical position in the water column,
for each of the multiple vertical positions in the water column, determining a respective quantity of in-focus pixels and a respective quantity of out-of-focus pixels for each of the one or more images that were taken at the vertical position in the water column;
for each of the multiple vertical positions in the water column, determining a ratio that is based on the respective quantity of in-focus pixels and the respective quantity of out-of-focus pixels for each of the one or more images that were taken at the vertical position in the water column;
generating, a distribution that correlates the determined ratios with the multiple vertical positions;
determining a vertical position of a cline within the water column based at least on the generated distribution; and
adjusting operation of one or more items of aquaculture equipment based on determining the depth of the cline within the water column.
11. The medium of claim 10 , wherein the cline comprises a thermocline.
12. The medium of claim 10 wherein determining a vertical position of the client within the water column comprises determining a particular vertical position in which objects in images taken at the particular vertical position appear blurrier than objects in images taken at vertical positions above or below the particular vertical position.
13. The medium of claim 10 , wherein adjusting the operation of the one or more items of aquaculture equipment comprises:
deploying deep feeding lights to attract fish below the cline.
14. The medium of claim 10 , wherein adjusting the operation of the one or more items of aquaculture equipment comprises:
deploying a subfeeder below the cline.
15. The medium of claim 10 , wherein adjusting the operation of the one or more items of aquaculture equipment comprises:
adjusting a height of an enclosure below the cline.
16. The medium of claim 10 , wherein adjusting the operation of the one or more items of aquaculture equipment comprises:
activating delousing equipment near the depth of the cline.
17. The medium of claim 10 , wherein adjusting the operation of the one or more items of aquaculture equipment comprises:
adjusting a maximum pellet depth for a feeder to occur at or above the vertical position of the cline.
18. The medium of claim 10 , wherein adjusting the operation of the one or more items of aquaculture equipment comprises:
adjusting a feeding rate of a feeder based on the vertical position of the cline.
19. A system comprising:
one or more computers; and
a computer-readable medium coupled to the one or more computers having instructions stored thereon which, when executed by the one or more computers, cause the one or more computers to perform operations comprising:
obtaining, for each of multiple vertical positions in a water column, one or more images that were taken at the vertical position in the water column different depths of water;
for each of the multiple vertical positions in the water column, determining a respective quantity of in-focus pixels and a respective quantity of out-of-focus pixels for each of the one or more images that were taken at the vertical position in the water column;
for each of the multiple vertical positions in the water column, determining a ratio that is based on the respective quantity of in-focus pixels and the respective quantity of out-of-focus pixels for each of the one or more images that were taken at the vertical position in the water column;
generating, determining, based on analyzing the images that were taken at the different depths of water, a distribution that correlates the determined ratios with the multiple vertical positions of out of focus pixels across the images as a function of the depths at which the images were taken;
determining a vertical position of a cline within the water column based at least on the generated distribution corresponding to a depth at which one or more of the images were taken within the water; and
adjusting operation of one or more items of aquaculture equipment based on determining the depth of the cline within the water column.
20. The system of claim 19 , wherein the cline comprises a thermocline.