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Originally Posted by GW (Greg) Ross
That's what I thought too, but in debugging, it looked to me like mx and my DO NOT get cleared when the target is lost. As I noted in another thread, I changed the if(T_Packet_Data.my == 0) tests in tracking.c to if(T_Packet_Data.confidence <= 1) to make the tracking more reliable.
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After reading what Greg found in the other thread, Saturday our programmer changed the terminal routine to dump out mx, my, and confidence and we ran tests. We saw non-zero mx, my values with confidence up to 6 or so with the target outside the camera's field of view. When the target is in the field of view the confidence was as low as 140 but was mostly well over 200.
The room the tests were run in had the camera on a 3' table, rows of white flourescent lights were 8'-9' up, and the target was at 3'. We determined the camera was picking up the white lights and putting those in the mx, my values. When we put the target on the floor and limited the tilt up angle the camera no longer picked up the white lights.
Our programmer changed the code to use confidence and it worked perfectly even with white lights in the field of view.