@Impulse Theory @caek
I’m attaching the two images showing the derivations and the final results. It looks like I switch what theta is between them, but not really. Theta is the angle up from looking straight at the surface. So if you’re looking toward the floor, horizontal is 90 degrees; if you’re looking toward a wall, horizontal is 0 degrees. You have to figure out the heights based on where you mount the vision sensor (really, its lens) and what you’re looking at. I’ve left the field of view angle general because I wasn’t sure which orientation the vision sensor would have, and I’m not 100% sure on the angles given above. If you don’t know the measure of the field of view angle, you can use the camera, check the endpoints, and measure out the triangle FOV to get it.
