[rp181]

I think eliminating co-linear segments and certain vertices is the hint I needed. After that, I believe looking at the angles will work.

I tried to simply measure the angle between points and pick the best one, but it was almost good. I believe the jaggedness of the line resulted in a false positive. If two points are very close and differ by a small amount, the angle gets very steep very quickly, with resolution limited by the pixels.

Has anyone else gotten good vision tracking in Java done? Another problem we are finding is an excessive glare, making the target unrecognizable. Hopefully, it will be different with competition lighting (very low ceilings in our build space).