Explain the challenge of the camera coordinate system to the students. Have students do tasks such as:
Draw out a diagram representing the relationship between x-y field coordinates and x-y camera coordinates.
Don't forget about the offset due to the fact that the camera is at the front of the robot
Derive the relationship to converting x-y-z (or maybe only x-z) in camera coordinates into x-y field coordinates.
Given a sample bot rotation and April tag location, use the relationships above to calculate the x-y field coordinate displacement in order for the robot to line up right in front of the april tag (assume camera is on front of robot... ) and how much the robot would need to turn for the front of the robot to be aligned with the april tag.
Given the relationships above, if the robot doesn't move, define the angle that the robot needs to turn so that the robot is facing the april tag (i.e. in shooting position). Do not assume the robot is in front of the april tag, it could be off to the side.
Explain the challenge of the camera coordinate system to the students. Have students do tasks such as: