2.5.8 FALSE ORIGINIAL Source 7 107 437 61 365 FALSE CROPPED Current 1 5 101 TRUE 22 25 2 4 largest 0 0.00000 4 21 0 FALSE FALSE FALSE FALSE FALSE 3 3 FALSE TRUE FALSE FILTERED Current triangle: robot 0 0.00000 1 74 0 FALSE FALSE FALSE FALSE TRUE FALSE ROBOT Current FALSE FALSE robot_ori [BLOBS:0] [ANGLE] robot_y FALSE FALSE [BLOBS:1] robot_x FALSE back to filtered FILTERED quadrilateral: target 0 0.00000 1 69 0 FALSE FALSE FALSE FALSE TRUE FALSE FALSE [BLOBS:0] targ_y FALSE FALSE [BLOBS:1] targ_x FALSE TARGET Current FALSE back to filtered FILTERED no triangle no quadrilateral: obstacles 0 0.75000 0 69 1 0 0.60000 0 74 1 FALSE FALSE FALSE FALSE TRUE FALSE OBSTACLES Current FALSE FALSE obs2_x obs2_y [BLOBS:0] [BLOBS:2] [BLOBS:3] obs1_y FALSE FALSE [BLOBS:1] obs1_x FALSE back to filtered FILTERED obs1_x obs1_y FALSE 2 FALSE robot_x robot_y robot_ori TRUE 5 targ_x targ_y obs2_x obs2_y