pic: Vision Development

[apalrd]

Originally Posted by Tom Line

We verified the target by first classifying them based on size (throwing out too large and too small), their height from the floor, then by angular relationships to other targets.

I don't actually use the height from the floor, just a few basic parameters (min size, rectangularity, edge strength) and the angular relationships.

If I were to improve it, I would probably attempt to guess position in the evil two-target scenario based on size vs height. I couldn't just categorize it by height or size since we do both fender and key shooting (and the fender shot prefers the lower targets, while the key prefers the upper ones).

Currently, we help the evil two-target guess by reading the gun state, but this is not very good for code reasons (the compare is done on the laptop side, so modifying anything in the state-machine means I have to recompile the laptop vision helper).