[questionsigotem]

I was looking around and I did find the CriteriaCollection and particleFilter.

Here is the code below. Do you think this will be able to track the targets. Do you think that I should rearrange anything to make it work better? Thanks again for your help.

     //[%Camera]
    public int cameraDirection(boolean ledIsBlue) {
        //printAll();
        output.updateLCD();
        BinaryImage bImg;
        int lowestSquare = 0;
        int lowSquareIndex = 0;
        int cameraDirection = 0; //is it right
	cc = new CriteriaCollection();
	cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_BOUNDING_RECT_WIDTH, 30, 400,false);
	cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_BOUNDING_RECT_HEIGHT,40,400,false);
	
        //System.out.println("It Worked!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!");
        try {
            ColorImage img = camera.getImage();
	    
            //System.out.println("Got IMAGE!!!!");
            if (ledIsBlue) {
                bImg = img.thresholdHSL(126, 155, 0, 255, 150, 255);
                //BLUE
                System.out.println("IS BLUE");
            } else {
                bImg = img.thresholdHSL(85, 128, 0, 255, 150, 255);
                //GREEN
            }
	    
	    bImg.removeLargeObjects(false, 2);
	    bImg.convexHull(false);
	    BinaryImage filteredImage = bImg.particleFilter(cc);
	    
            ParticleAnalysisReport[] reports = bImg.getOrderedParticleAnalysisReports(4);//Was 1

            if (reports.length > 0) {
                //System.out.println("REPORTS > 0");
                for (int i = 0; i < reports.length; i++) {
                    if (reports[i].imageHeight > minSquareHeight && reports[i].center_mass_y > lowestSquare) {
                        lowestSquare = reports[i].center_mass_y;
                        lowSquareIndex = i;
                        //System.out.println("Target: " + i + "  " + reports[i].center_mass_x + "," + reports[i].center_mass_y);
                    }
                }
            }
	 
            if (reports[lowSquareIndex].center_mass_x < 0.9 * (WIDTH / 2)) {
                //Was reports[lowSquareIndex]. instead of 0
                System.out.println("LEFT");
                centered = 0;
                direction = -1;
            } else if (reports[lowSquareIndex].center_mass_x > 1.1 * (WIDTH / 2)) {
                //.center_mass_y before
                //Was reports[lowSquareIndex]. instead of 0
                System.out.println("RIGHT");
                centered  = 0;
                direction = 1;
            } else if ((reports[lowSquareIndex].center_mass_x > 0.9 * (WIDTH / 2)) && (reports[lowSquareIndex].center_mass_x < 1.1 * (WIDTH / 2))) {
                //Was reports[lowSquareIndex]. instead of 0
                System.out.println("CENTERED");
                centered += 1;
                direction = 0;
            } else {
                System.out.println("NO TARGET");
                centered = 0;
                direction = 0;
            }
	    
            img.free();
            bImg.free();
            //System.out.println("FREED IMAGES");
	    
        } catch (AxisCameraException ex) {
            System.out.println("Axis Camera Exception");
        } catch (NIVisionException ex) {
            System.out.println("NI Vision Exception");
        }
        //printAll();
        output.updateLCD();
	
        return direction;
    }