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Question 1 - The vector holds sequential X,Y coordinates for the camera.

Question 2 - He is extracting X,Y coordinates for each camera moving step. Don't know exactly what "one per degree" means, but it has to be some kind of resolution measure.

Question 3 - A binary image holds either 0 or 255 pixels. The webcam may be viewing a white sheet with a drawn black line, but there still are shades of grey.

Question 4 - There is a way to transform X,Y coordinates from the contour to camera coordinates and finally instructions to the motors. Applying the right math and with proper calibration, you can transform X,Y coordinates from the contour to camera coordinates.

Question 5 - Mean of all the X,Y coordinates on the coordinate array.. also known as centroid.

Question 6 - I am not sure about this.. but I think he is comparing current position with the centroid of the whole array.. and he can calculate the direction of travel somehow.

Question 1 - The vector holds sequential X,Y coordinates for the camera.

Question 2 - He is extracting X,Y coordinates for each camera moving step. Don't know exactly what "one per degree" means, but it has to be some kind of resolution measure.

Question 3 - A binary image holds either 0 or 255 pixels. The webcam may be viewing seeing a white sheet with a drawn black line, but there still are shades of grey.

Question 4 - There is a way to transform X,Y coordinates from the contour to camera coordinates and finally instructions to the motors. Applying the right math and with proper calibration, you can transform X,Y coordinates from the contour to camera coordinates.

Question 5 - Mean of all the X,Y coordinates on the coordinate array.. also known as centroid.

Question 6 - I am not sure about this.. but I think he is comparing current position with the centroid of the whole array.. and he can calculate the direction of travel somehow.