Only intermittently finding the 2 trailer colors

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Hi all,
I've been trying to get the camera to track the two colors using the code at http://first.wpi.edu/FRC/frcupdates.html, and it sort of works. It seems to almost never recognize the colors, except every once in a while. Even when it stays in the exact same place as where it recognized the image, I still cannot get more times where it recognizes the two colors.

The camera is correctly focused (we viewed it, and it can clearly see the colors on the trailer). The settings are correct in terms of brightness etc.

We then tried to increase the range of acceptable colors, and it still didn't work. Increasing other tolerances in Target.h also didn't help, and strangely didn't give us any false positives (just the same huge number of false negatives). Does anyone else have the same problems or know what causes this?

Thanks,
-Kevin