our vision camera is offset from our shooter by about 5 inches. it is on a turret, that rotates.

I am trying to account for this offset in my angle readings. If I just target purely off the angle… it works perfectly. However, this is likely a few degrees off from where it needs to be.

Does anyone understand the math to then calculate the angle of the actual shooter? Where it gets difficult for me… is the shooter based on angle could be further or closer to the target (since its on a circular turret). It won’t be a uniform angle difference so I can’t simply just try to find a constant…

Do you know the distance to the target? Is the distance from the camera to the center of the shooter fixed? If so, it sounds like you know 2 sides of a triangle.

Right angle triangle with the 90 vertex at the center of the shooter. You can solve for the angle at the camera. The difference should be good approximation of the required correction.