/**
 * Detects the 2019 vision targets.
 * @param image The image from the camera.
 * @return The list of vision target groups.
 */
public List<Target> detect2019Targets(Mat image){
  // Adjust these parameters for your team's needs

  // Target filter parameters
  double minBrightness = 200;
  double maxBrightness = 255;

  // Contour filter parameters
  Range area = new Range(0.03, 100);
  Range fullness = new Range(0, 100);
  Range aspectRatio = new Range(0.2, 4);

  // Camera settings
  FOV fov = new FOV(50, 40); // This is the approx. Microsoft LifeCam FOV
  Resolution resolution = new Resolution(640, 480);
  boolean cameraInverted = false;

  int imageArea = resolution.getArea();

  // An HSV filter may be better for FRC target detection
  TargetFilter filter = new BrightnessFilter(minBrightness, maxBrightness);
  ContourFilter contourFilter = new StandardContourFilter(area, fullness, aspectRatio, imageArea);
  CameraSettings cameraSettings = new CameraSettings(cameraInverted, fov, resolution);
  TargetFinder targetFinder = new TargetFinder(cameraSettings, filter, contourFilter, TargetGrouping.SINGLE);

  // Find the targets
  List<Target> targets = targetFinder.findTargets(image);

  // Sort the targets by x coordinates
  targets.sort(Comparator.comparingDouble(target -> target.getBoundary().center.x));

  List<Target> bays = new ArrayList<>();
  // If the current target is a left and the next is a right, make it a pair
  for (int i = 0; i < targets.size() - 1; i++) {
      Target current = targets.get(i);
      Target next = targets.get(i + 1);

      // Determine if the targets are a left and right pair
      if (isLeftTarget(current) && isRightTarget(next)){
          // Combine the targets
          Target bay = TargetUtils.combineTargets(current, next, cameraSettings);
          bays.add(bay);
          // Skip the next target
          i++;
      }
  }

  return bays;
}

/**
 * Determines if a target is a left vision target.
 * @param target The target.
 * @return True if it is a left target.
 */
private boolean isLeftTarget(Target target){
    return target.getSkew() < 0;
}

/**
 * Determines if a target is a right vision target.
 * @param target The target.
 * @return True if it is a right target.
 */
private boolean isRightTarget(Target target){
    return target.getSkew() > 0;
}