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SPAM is able to track the retro reflective goals using just two ring lights - we originally tried just the smaller one and it wasn't quite bright enough. We overexpose the image to darken it a bit so that in bright conditions the green light doesn't saturate. If this were to happen, a color shift would occur and make thresholding with HSL not work. We shine a bright light into the camera and hold the settings for both white balance and exposure. We are able to detect full court without any problems. Last year we did the same thing and we could work outside, in fluorescent lights, tungsten, at events, etc. and we never retuned. Hope this helps!
- Bryce
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