Initially I was trying to use canny edge but it was suggested to me to use laplace variance (and others). I just went with this one for now since it's a basic one-liner from OpenCV.

It works pretty well of course this is one test case (my desk). I need to try it out and add catches for the field case (clear blue sky).

This is good for now, I was able to integrate the camera stream with the steppers/make a control loop.

I'm going to proceed with new parts of the project eg. the OLED disply, speakers and d-pad mostly because I need to make sure I have enough pins and then design the case that holds all these parts together.

That'll be nicer to work with than a box of parts and a breadboard.