currently the binary filter uses only a simple threshold on the green layer. Upgrade it to filter based on the filter in https://github.com/frc4039/2016/blob/autonomous/dev/vision.m where it subtracts the blue pixel if the green pixel is low but not high. red pixel is always subtracted.
In the autonomous branch
currently the binary filter uses only a simple threshold on the green layer. Upgrade it to filter based on the filter in https://github.com/frc4039/2016/blob/autonomous/dev/vision.m where it subtracts the blue pixel if the green pixel is low but not high. red pixel is always subtracted.