Need general ideas for calculating angle from an image using centroid

Hello there. I am working on a fire detection project. In this project i need to detect fire and calculate the exact angle at which the fire is present and then extingiush it. I have interfaced matlab with arduino. I have done all the coding for the detection of the fire all that is left is calculating the physical angles. I am a bit confused and i need some general approach to how to tackle this. I know that distance between the camera and the motors matter and so does the distance of the fire. How can i use centroid to calculate the degrees. How much i need to turn the motors in x and y axis so that it will point exaclty at the fire.

please provide any general Ideas.

Thanks.

[darova]

can you attach a picture with explanations?

[Sarmad Paracha]

sure. Here is a model. image captured through camera. Motors moving in x and y axis. These might help.

Answer 1

[darova]

First of all you have to measure your main dimensions. Red rectangle on the picture below is your red boundary table.

Let's place origin of coordinate system like on the image (for example). You need to calibrate your bottom motor

Remember about eccentricity (if you have). For correcting your angle for more precision:

Angle of the top motor (remember about eccentricity too). dx, dy - values from the first picture:

About camera. It depends on how far your candle will be (how big angle will be).

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Sorry for late resonse, have'n seen you answered