Goalposts

[mmaherwelsh]

@joshimhoff did lots to make this happen, but it needs to be finished and integrated.

[joshimhoff]

So many bugs opened! Yay, RoboCup!

I talked with Cory about this, but this is a fairly meaty task. The implementation needs to be made faster, and the method needs some combination of tuning and small improvements to be competition ready. Even then there is the possibility the method will not perform at the level we want it to.

I just want to make sure it is clear there is some risk here.

But that is what RoboCup is all about! Fire, fire, fire, go crazy, ahhhhh, lose your mind, for the bots, wooohooo bots, Wash scores, stay up all night, sleep for weeks after competition, fun, fun, fun!

[mmaherwelsh]

Josh's code is currently in a branch called vis-goalpost.
His comments when submitting the branch were:

This is a very old branch, certainly out of date, so do not pull as is. It has what I believe to be the most recent version of goalpost. This includes the actual C++ detector -- currently not fast enough to run on a robot -- and a nbcross function and view to test/debug.

This is a very unfinished product. It is possible that the ideas here could be used to build a solid detector, though I am not convinced. A new method might be needed. Either way, it is probably best that this code at least is available to the team. The code is not well documented, and the method involves is a little mathy, but my senior paper describes it in detail.

Feel free to cherry pick commits, whatever :)