Ok, now we have finally worked out a time schedule for what and when regarding the development.
I don't have the plan, so I cannot show it (u9 upload?) .
For this week (saturday now) we are finishing a laser line detection algorithm, and perhaps a calibration pattern corner detection algorithm.
The laser line detection is using a thresholded grayscale image, tranformed into a parametric hough space, hopefully tomorrow some images of this are ready.