Find most central target in vision process

thedropbears / pystronghold

Python control code for 2016 FRC - Stronghold

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Find most central target in vision process #37

Closed james-ward closed 8 years ago

james-ward commented 8 years ago

At the moment we select the largest target as the goal we are tracking, but maybe selecting the most central (as long it is of a big enough size) would be better. We always expect to be pointing generally at the goal, so it should be the target in the image closest to the centre.

james-ward commented 8 years ago

Thresholding to make sure we ignore things that couldn't be goals because they are too big has improved the vision a lot. Fixed in ab90740