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srobo / sr-robot3-j5

Python 3 API for Student Robotics Kit - Built with j5
MIT License
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Improve marker detection in difficult lighting #81

Closed RealOrangeOne closed 1 year ago

RealOrangeOne commented 1 year ago

Built on #74

This increases the number of adaptive thresholding steps which are performed when detecting marker contours. This will help improve marker detection in more difficult lighting conditions.

53 results in twice the number of steps being performed (23 being the default max value, with the window starting at 3 and increasing by 10 each time).

This patch has been tested in similar ways to #74. It's worth noting that whilst these thesholds are performed in parallel, this patch will slow down marker detection. By exactly how much isn't clear, but locally it was around 20%.

WillB97 commented 1 year ago

This change increases the time for see_ids from 290ms to 426ms.