This is really cool! I'm looking forward to taking a close look at this at a non-12AM time, but a quick skim left me hungry for more.
We used a much more primitive system to find targets. After even very lenient RGB thresholding, we found that ignoring small particles and filtering the remaining ones for high normalized moment of inertia was sufficient. However, we didn't use any measurements other than the x coordinate of the center of the targets. Your code will no doubt be studied by a great many people, hopefully including all of 125's trainee programmers
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