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Geometric Analysis
Once the green triangle has been segmented from the background we add the Geometric module to run an
analysis against the triangle. The value in particular that we are looking for is the ANGLE parameter which
gives an indication of orientation of the blob.
When viewing this parameter you will notice that it flickers +=10 degrees or more. This can be reduced
by adding in other blob smoothing modules such as Smooth_Hull but this additional precision is not needed
for our purposes. Note that the angle is sensitive to the outline or border pixels of the blob. If you
make the green triangle ends sharper the stability will also increase.
Once this number has been calculated we save the generated numbers (ANGLE, COG_X, COG_Y) to other variables
so they don't get overwritten. This is accomplished using the Statements->Set Variable module. Once this module
executes the variables are now called robot_orientation, robot_x and robot_y.
Using the Other->Marker module we revert the image back to the source in preparation for extracting the waypoints.
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