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Precision Trapezoid Tracking
Currently, our camera is set to recognize rectangles, and it is able to pick up the target that we are looking for. However, to make up for the distortion (our camera's got a relatively steep angle looking at the target) we currently have a noise level that is causing the camera to pick up things like ceiling lights and potentially other targets. I have a strong enough mathematical background that I can determine the relative side lengths for the trapezoid, but I do not know how to have the camera recognize points arranged in a trapezoidal formation (by picking out the robot's distance from the height, we could then have a very specific shape to scan for). So, any suggestions for how I can work with the Particle code?
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What else could you do with a t-shirt? Wait... never mind... I retract my previous statement and realized this is FIRST and we can do anything with anything. ;) - Jeremiah Johnson [more] 
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