Hi David
The fiducial should be 2mm and it accepts down to 1.4mm, up to
2.3mm, both limits are hard-coded. As you see in your result, it
is borderline, i.e. it will work/not work unpredictably.
I suspect it's actually good to not be
recognized, you may have slightly color-tinted shadows inside the
fiducial that are not excluded by MaskHSV (the light is shining
through the green PETG and tinting the shadows). Shadows must not
be recognized as part of the fiducial, they will throw off
accuracy, as they are not necessarily symmetrical.
You are on the testing version, right? The following is
only available on testing:
First, if not yet done, switch off USB Automatic White
Balance and apply the OpenPnP White Balance? Why? and How? See
here:
https://github.com/openpnp/openpnp/wiki/Camera-White-Balance
It is the basis for stable green-screening.
Maybe you can then tune the MaskHSV yourself, to exclude the
shadows in the fiducial. When the background of your fiducial is
very reflective, you might have to color the inside of the
fiducials with a complementary color (red/blue/magenta) or black.
Just use a fine permanent felt marker.
If you need help with MaskHSV, please do the following:
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No.
OpenPnP must be able to discern the blinds covers against parts in their pockets, but those parts may be black too:
https://youtu.be/dGde59Iv6eY?t=393
It needs a unique vivid (=high saturation) color, i.e. it can be
red or blue etc., but not black or grey or white. It must be from
the upper and outer edge of that color cylinder:
https://en.wikipedia.org/wiki/HSL_and_HSV#Basic_principle
You can then adjust the MaskHsv stage in the pipeline to key the
right color.
_Mark
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