Fnoop

Including add a warning about unexpected movements/EKF/careful testing.

Threads=1 ``` Time(hafc |thres ):0.980416ms 0.980416ms Time(hafc |find-cont ):7.4278ms 8.40822ms Time(hafc |total ):0.023125ms 8.43135ms Time(non-parallel)= 8.71431ms Time(hafc |thres ):1.08776ms 1.08776ms Time(hafc |find-cont ):8.1765ms 9.26426ms Time(hafc |total ):0.034791ms 9.29905ms Time(non-parallel)= 9.59582ms...

Most of the time in long detection time is spent copying the image: ``` 2018-07-18 23:21:18,902 DEBUG track_targets: Debug['detecttime~9.85062', 'threads~-1'] 2018-07-18 23:21:18,903 DEBUG track_targets: Debug['inactive_marker', 'center~[663.809, 446.019]', 'area~71589.2', 'marker~16=(533.402,306.749) (808.261,319.968)...

``` 2018-07-19 09:48:11,481 DEBUG track_targets: Debug['detecttime~22.3879', 'threads~-1'] 2018-07-19 09:48:11,484 DEBUG track_targets: Debug['active_marker', '19', 'center~[451.493, 487.476]', 'area~32704.8', 'marker~19=(540.056,399.875) (531.611,598.735) (366.446,569.411) (367.86,381.882) Txyz=-0.0376434 -0.088547 0.603173 Rxyz=-1.7572 -1.98263 0.166654 ', 'vectornorm~0.610799', 'Ti~0.0994568', 'ThresHold~62',...

So the 3 x iteration of `Threshold and Detect rectangles` is because the threshold method is set to THRES_AUTO_FIXED, not THRES_ADAPTIVE. In this mode, it iterates NAttemptsAutoThresFix times. This parameter...

If no detected markers are found, it sets random thresholds NAttemptsAutoThresFix times and tries again. If we haven't found any markers, this is a good thing - a lower framerate...

Hi, as advised in email vision_landing has not been tested yet with Raspberry Pi and will not work. There are known issues with slow computers, as they incur a high...

track_targets dies and restarts repeatedly #81

vision_landing and track_targets now working correctly on raspberry. Next step is to add calibration data for raspicam v2, test visual tracking, and to fix latency handling in arducopter.

Added calibration data for raspicam v2 in #84 , tested visual tracking works on marker board.