Vision problem - robot view not matching Grip view

[skidad68]

So regarding the camera consistency issues:

It is critical to override all of the camera's automatic exposure control features. (We are using the Microsoft Lifecam HD3000) We found that at a minimum we had to call:
setWhiteBalanceManual()
setExposureManual()
setBrightness()

There also seem to be scenarios where the above calls occasionally fail. I haven't been able to consistently reproduce this, so I can't say exactly what causes this. We were able to work around it by making the calls multiple times.

(One theory I haven't been able to test is that there is a race condition at camera start-up and you need to wait awhile after creating the camera object before calling the setters above)