Tracking two lights

[Render]

Has anyone else noticed that if you set up the lights properly (according to the specs) that it is very easy to lose one of the lights, because the blobs are so tiny? Yesterday we put the lights at the proper distance and position and the instant we moved the camera a tiny bit it locked onto either the left or right light.

Is this normal, or do we have a calibration/code issue?
notes:
-we already had to lower the confidence in Kevin's code for it to lock onto two lights
-We lowered the search delay so that the camera would track faster

Thanks

[Donut]

We noticed something similar yesterday (just tried two lights randomly in front of the light). It didn't lose the other one when they were both in view, but it did tend to center on one or the other after 1 or 2 seconds.

We're going to do some more testing at the proper heights and distances, then see if we can figure out what it's doing from the data we're getting.

[Render]

when we have them both at 90 degree angles from one another and the correct spacing it does not continue to track both lights, it usually focuses on one if its moved slightly. However, when they are both right next to one another or most of the light is showing it finds both. If the camera truly loses both ligths so easily scoring on the middle spindle is going to be next to impossible in autonomous mode. We will experiment with it more this week and I will post the findings.

[d.courtney]

If the camera truly loses both ligths so easily scoring on the middle spindle is going to be next to impossible in autonomous mode.

We had this same problem, I made a function thats called when we want to be between two lights, when it losses one, it will rotate back and forth between the two lights, and it actually is more effective at centering in on the spider I find then using two lights. I was pleasantly surprised to find how well this worked. it may also help that we have our camera mounted at the back opposite end of our robot.

[1768]

We also have this problem. We were hoping that it was a hardware problem :p but I guess that it isn't.
*frantically hopes d.courtney is a really, really, really good person and posts her code for the benefit of inexperienced teams*

[bear24rw]

Yeah, Team 11 has the whole rack with lights set up.. we noticed that from the starting position, we track both light but once you get midway to the rack the camera loses track of both lights (camera only can see 60 degrees FOV) and it researchs for the lights again (it finds one almost immediatly)