This week I mainly worked on refining the color thresholding for ball categorization and started implementing a new solution regarding edge/rail detection that could serve as an alternative for pocket detection. Currently, for ball categorization solid differently colored balls are accurately being detected, but similar colored balls(blue 2-ball, purple 4-ball) struggle differentiating. To debug this problem I created a gradient function that shows the different HSV thresholding gradients to give us a visual reference. I also started implementing an edge detector as an alternative to our hough circles pocket detector, but it still needs a lot more refinement. I am on track to have a finalized pipeline soon and only have categorization and pocket detection left to refine.
