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The different parts of the system interact in the following way. From the live camera footage a ball position is extracted in a series of image processing steps (see Image Processing/Ball Detection).
This pixel position is then transformed into a World Coordinate System for further processing and passed to the SCChart Controller, which is the main logic component of the system.
To allow for timely reactions the SCChart Controller calls the Ball Physics, which performs a ball trajectory prediction.

For a quick overview on how to build and run the system see Dependencies and Compilation.


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