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  • detect the ball in one of multiple regions of the camera frame
  • output the ball's balls real world coordinates (in meters)
  • determine if the launch lamp is flashing (can the ball be launched to resume the game?)
  • determine if the flippers are currently up (for timing measurements)


The given ROI is cropped out of the full frame:

Grey scaling

Three Color color channels are not required, reduce to single grey channel for more efficient processing.