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摄像头远离AprilTag，当距离增大到某个特定的值，就会出现这个问题，我也不知道是怎么回事

# AprilTags Example
#
# This example shows the power of the OpenMV Cam to detect April Tags
# on the OpenMV Cam M7. The M4 versions cannot detect April Tags.

import sensor, image, time, math

sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)#GRAYSCALE
sensor.set_framesize(sensor.QQVGA) # we run out of memory if the resolution is much bigger...
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False)  # must turn this off to prevent image washout...
sensor.set_auto_whitebal(False)  # must turn this off to prevent image washout...
clock = time.clock()
roi = (0,0,160,120)

tag_families = 0
tag_families |= image.TAG16H5 # comment out to disable this family
tag_families |= image.TAG25H7 # comment out to disable this family
tag_families |= image.TAG25H9 # comment out to disable this family
tag_families |= image.TAG36H10 # comment out to disable this family
tag_families |= image.TAG36H11 # comment out to disable this family (default family)
tag_families |= image.ARTOOLKIT # comment out to disable this family


def family_name(tag):
    if(tag.family() == image.TAG16H5):
        return "TAG16H5"
    if(tag.family() == image.TAG25H7):
        return "TAG25H7"
    if(tag.family() == image.TAG25H9):
        return "TAG25H9"
    if(tag.family() == image.TAG36H10):
        return "TAG36H10"
    if(tag.family() == image.TAG36H11):
        return "TAG36H11"
    if(tag.family() == image.ARTOOLKIT):
        return "ARTOOLKIT"

while(True):
    clock.tick()
    img = sensor.snapshot()
    apriltags = img.find_apriltags(roi = roi, families=tag_families)
    if apriltags:
        for tag in apriltags:
        # defaults to TAG36H11 without "families".
            x = tag.cx()-tag.w()//2-5
            y = tag.cy()-tag.h()//2-5
            w1 = tag.w()+10
            h1 = tag.h()+10
            if x<0:
                x = 0
            if y<0:
                y = 0
            if w1>80:
                w1 = 80
            if h1 >60:
                h1 = 60
            del roi
            roi = (x,y,w1,h1)
            print("roi:",roi)
            print("apriltag:",tag.rect())
            img.draw_rectangle(tag.rect(), color = (255, 0, 0))
            img.draw_cross(tag.cx(), tag.cy(), color = (0, 255, 0))
            print_args = (family_name(tag), tag.id(), (180 * tag.rotation()) / math.pi)
            print("Tag Family %s, Tag ID %d, rotation %f (degrees)" % print_args)
    else:
        del roi
        roi = (0,0,80,60)
    print(clock.fps())

IDE报错：“MemoryError: Out of fast Frame Buffer Stack Memory! Please reduce the resolution of the image you are running this algorithm on to bypass this issue!”，距离稍微远一点就会报错
修改分辨率为QQQVGA后同样报错！！！
求解答

# AprilTags Example
#
# This example shows the power of the OpenMV Cam to detect April Tags
# on the OpenMV Cam M7. The M4 versions cannot detect April Tags.

import sensor, image, time, math

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA) # we run out of memory if the resolution is much bigger...
sensor.skip_frames(30)
sensor.set_auto_gain(False)  # must turn this off to prevent image washout...
sensor.set_auto_whitebal(False)  # must turn this off to prevent image washout...
clock = time.clock()

while(True):
    clock.tick()
    img = sensor.snapshot()
    for tag in img.find_apriltags(): # defaults to TAG36H11 without "families".
        img.draw_rectangle(tag.rect(), color = (255, 0, 0))
        img.draw_cross(tag.cx(), tag.cy(), color = (0, 255, 0))
        degress = 180 * tag.rotation() / math.pi
        print(tag.id(),degress)
        
    print(clock.fps())

运行例程，禁用framebuffer，帧率只有15fps
感谢感谢

默认的坐标系为（90,180,0,90）

需要识别6个圆形，从左到右从上到下依次编号为1-6，怎么实现呢？求思路