Precision Trapezoid Tracking

[FirebearBenD]

Yep, sorry if I wasn't clear, but I was more referencing a lack of knowledge on how to use the Java code. What I was thinking personally (since posting yesterday), was that it would be good to have a two-step scan. I understand how to implement the first step - just a simple scan for a rectangle which we already have working. Then, I figured based on the height of that rectangle I could calculate fairly precise vertices for what the target should have and test for which ROI we want (and distance) as the difference in distortion should allow us to only pick up the top target (instead of recognizing random other things and the middle and lower row targets). However, I don't know if/how I can use the camera code to test for the positions of the vertices on the stuff it picks out. Thanks for helping by the way!

Ben