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Originally Posted by wt200999
To me the 1st image you showed seems like it would be easier to process, as I see much less green reflections and the green color is more consistent, it looks like it would be much kinder to the threshold step. Is there any particular reason you prefer the 2nd one?
For the camera it looks like the vision settings are only applied once when the vision start. The only difference between the two you describe above is whether or not the robot has been running for some time. Maybe the camera isn't 'ready' to start receiving commands when you first turn the robot on? I would start there, maybe you can monitor the error wire or send the error wire back to the dashboard to see if that has any hints. Maybe you need a delay before running the settings, or check if the camera is available first?
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Thanks for these suggestions. I will try this and see if I can see what is happening. Another thing I just thought of is setting the exposure inside the loop just like the example code does with image size. This way it would be sure to set it correctly (I think). I know it's not the most efficient way to do it, but if all else fails it is better than nothing. This would also allow us to change the exposure back to auto during teleop for driver vision.
The reason the second one was preferred last year was because the goal was so much farther away that it was really, really dim. I had to set the threshold to see everything except pure black, which resulted in lots of noise. Luckily my algorithm for ranking the targets was robust, because at our competition we were seeing 10-20 particles because of the tower LEDs and ceiling lights. This year I have the code able to detect both the dim and bright versions with the same threshold and similar robust filtering/ranking algorithm, although this year there is less of a problem with noise because the camera is not looking toward the ceiling and there are no LEDs around the peg (except on the steam tank, but that's not much of a problem).
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Our team had a lot of similar issues when we tried the Microsoft Lifecam - as well as issues with its autofocus. We ended up switching to a fixed focus Axis camera, and it persisted its white balance and exposure settings as we wanted it to.
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I think we have a few Axis cameras laying around. I will try this also!