[Greg McKaskle]

The default settings of the camera are automatic exposure and automatic white balance. These will give more variability than if you calibrate and keep the settings constant. I'd love to be able to set them from code or configuration, but the camera doesn't have full support for that. I think that you may want to experiment with calibration, as discussed in the white paper and then test the results in the shop, outside, perhaps with some work lights or bright flashlights shining on the targets or the robot. No vision system is immune to lighting changes, not even your eyes, but knowing what will break it and what won't is pretty good stuff.

Greg McKaskle