One Week Until Bench Inspection....AAARRRGGHH!!!
There were problems found in the givens scaling function, sometimes the ball co-ordinates are lost during the shrinking. This is because it is going from a 1024x768 image to a 800x400 model of the table.
In order to overcome this, pixels which contained a 1,2 or 3 could not be overwritten and this meant no data was lost.
The rotation matrix was also altered to that the theta found was negated (theta = -theta) this gave the correct direction of rotation
Chris
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