So my team has a limelight that we are using for high goal tracking with good success. We have the capability to do this with both the photonvision for limelight image and the official limelight image.
We are also considering doing ball tracking. Using photonvision, we can run pipelines on the USB camera plugged in to the limelight, and have a solid USB camera for doing this.
But ball tracking has a lot of risks. The algorithm messes up and hits a partner; now you are a DNP. And to make it track the balls instead of bumpers makes the ball tracking less reliable, to the point where the ball has to be super close to the camera. In addition, with both pipelines running the limelight is going pretty close to its CPU limits.
I can’t imagine that ball tracking would be much faster than a driver in teleop, and it would definitely be much less reliable. So really the only time we would be using it would be during auto, where we know exactly where the ball is. And we’re pretty close on trajectory following, so we should be able to reach those balls anyway, most of the time.
As it is, I’m strongly considering abandoning ball tracking. But I’m looking for any suggestions; extra reasons I should or shouldn’t abandon it.