Multiple tetras in field of view

I’m looking for a little more detail on the VW command with the CMUCam2.

One of the issues we are dealing with is the possibility of having more than one tetra in our field of view. It seems like the VW command would be a good candidate to deal with this problem:

  1. Check the size of the bounding box
  2. If the box is too large for one tetra, create a Virtual Window for either the left or right half of the bounding box.
  3. Track again using the Virtual Window

This is all assuming we don’t see the tetras on the opponent’s side of the field.

Has anyone used the VW command yet?


When using the VW command, would you have to constantly adjust the VW co-ordinates as the camera re-tracked and servoed towards one of the tetras? i.e. as the camera pans towards the tetra isolated by the VW, do you also have to move the VW accordingly?