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Originally Posted by Greg Marra
Changing the camera configuration is easy: getting the camera to lock onto targets in different lighting conditions is a pain. My experience has been that the CMUCam is very difficult to get just right between false positives and false negatives and can be extremely finicky.
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My experience is exactly the opposite. If you work in RGB color space, it will tend to match similar light levels more easily than specific colors, but if you change it to YCrCb space (as the code provided last year does) it detects and tracks glowing color targets very well.
The only "false positives" we got when looking for the green cold cathode box were from daylight shining through windows at the side of our practice field. As for "false negatives", we did have a couple of hours once where it would lose track of the target at distances it usually had no problem with, but that was because the camera had been misfocused. Tweaking the focus back where it needed to be cleared up the problem immediately.