This program is used to detect the retro-reflective targets using frame differencing under flashing IR LED light.
- Image differencing - solution 1
- An issue explored and partially fixed: the electronic rolling shutter of the image sensor leads to asynchronous LED switch and image capture, which may cause a frame partially lit up by the IR LED, making the frame difference obstructed. It turns out waiting for a substantially long time (> 2*shutter/exposure time) after switching the LED can solve the rolling shutter problem. Cross-checked with Edward.
- DONE: Robust blob detection for goals of different colors
- TODO: blob filtering and tracking