The Ball - northern-bites/nbites GitHub Wiki

We greatly simplified our ball detection system this year. It can be found in Ball.cpp. The basic idea was to rely less on color tables and more on the more abstract notion of "orange." To that end we no longer use a color table at all, and define orange as a rather large segment in the UV color space. This turns out to be good enough to separate the ball from most other objects. From there we just blob on "orange" using a new fast blobbing system. With our improvements in tomography our sanity checks mainly rely on the homography (is the ball the right size for its distance) and its shape. We also include checks to ensure that it is on the field. Obviously the next big change is to get rid of orange too, especially as the balls will no longer be orange.