Field Crosses

It would be easy to call our Field Cross detection system a hack. So let's get it out of the way and agree that it is. However, it works pretty well. Our system is based on the principle that there is only one little blob of isolated white that we are ever going to see on the field - the field cross. So we grab regions of white and look for smallish regions that are completely surrounded by green. If the size and shape look right for the distance then we call them crosses.

This system is ripe for replacement. Ideally we would use the field edge detection system to detect places where there are green/white edges, but they aren't long enough to be lines. When we have the right array of these we could easily determine that we have a field cross.

The field line code can be found in Cross.cpp.