[mikets]

The sample code shows you how to process an image from a file (you need to capture the image from the camera instead). In order to easily identify the target, the first step is to filter the image by color. So if you illuminate the target retro-reflective rectangle with red light, you will want to filter out other colors leaving mainly red objects in the image (ThresholdRGB). The next step is to filter out small objects. The previous step may still leave an image with a lot of red objects. So filtering out the small objects decreases the amount of objects the subsequent code has to analyze (RemoveSmallObjects). The ConvexHull step is to "rubber-band" the object and solid fill it. This will fix the minor imperfections of the rectangle such as the hoop blocking part of the lower edge of the rectangle. Then the next step is to filter the objects with a set of criteria. The sample code uses a set of 2 criteria: the width of the object must be within the range of 30 to 400; the height of the object must be within the range of 40 to 400. Then the last step is to sort the objects so that the highest scoring objects are at the beginning of the list. So in case you still have false positive targets in the objects list, they would be at the bottom of the list. In theory, if you find more than 4 targets, you can ignore everything except the first four.