The shadow occlusion caused by sunlight in find_priltags results in recognition failure

Hello!!!
As shown in the question, how to optimize in such a situation. The following are the actual photos collected:
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There shouldn’t be a problem detecting that tag. However, the algorithm doesn’t work?

Do things work if you move the quad copter arm out of the way?

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As long as it is not obstructed, it can be recognized. The white box indicates recognition

Okay, I think the best you can do is just to use tags with the largest hamming code. That’s the hX part in the name.

Okay, thank you. May I ask what are the hX and “the largest hammer code” you are referring to?

You should use the TAG36H11 family. The Hamming code distance is 11… so, it handles occulsions well.

Thank you very much!