Re-read and cleaned up a lot of our vision code. My basic plan is to over the next few days try to make some substantial vision improvements in two particular areas: speed optimization and horizon line utilization.
All night I’ve been working on a scanning routine that only scans parallel and perpendicular to the horizon line. The math is a bit complicated, but as I’ve worked most of it out it seems doable but time consuming. I’m doing most of the code out to see if this has better advantages over a blob rotation method. We’ll find out.