This process has a few tasks :

1. Process image frames using the image pipeline

2. Segment the image : that is, convert the image to B&W (white being track lines)

3. Plan a (set of) coordinates for the Control Daemon

Be sure that all dependencies are installed. Failing to install some of the gstreamer plugins may result in silent fails...

Plan of attack

1. Find optimal point of track

a) Give index (range (±bound)) for steering, pass this to PID.

b) The speed is a factor of the steering. (KISS)

2. To find steering index, cast num_beams rays to track, average their x components. This is the new coordinate.