Re: Since i am firly new to open
For us, having the servos move smoothly was a challenge since we can only get 16fps using OpenCV at a minimum resolution of 176x144. At that refresh rate it was not possible to track the object using the camera thread so we decided to use the microcontroller thread instead to call the PID every 10ms. That means that the COG is calculated every 60ms at the end of each frame so there will be 6 PID cycles for each frame to update the servos; which also means less blur on the image. Here is the result: