Detection of markers out of frame

[shardros]

It was observed at robocon 2022 that markers which were out of frame could be detected on the screens therefore the image is shown is a cropped view of what the robot can actually see.

Need to work out where in the pipeline this is happening.

[WillMunns]

This is probably not in Shepherd/Robot, but in the shephered resize helper (run on the brain to reduce arena network traffic) OR in the TK code that resizes images for display.

In both places the image is resized to fit inside a 4:3 window but keep the original aspect ratio. IIRC we set the res to a 4:3 res, but people can change it manually. If this scaling is done wrong, or the TK decides to zoom the image incorrectly then it might cause this.

This error is most likely in the final stage of putting the image onto a screen.

If this is a correct assumption, the to trigger this you will need to fiddle with the camera resolution to alter the aspect ratio while displaying it on an arena screen (or other 800x600 resolution output)