The programming team has been working on the vision code for the past week. Today we managed to use OpenCV's solvePnP() function to estimate the location and orientation of the outer Power Port from previously taken test images of the field. The code is currently in Python for convenience and still needs to be implemented in C++ and ROS later. More testing is needed to determine the accuracy of the results. We've also borrowed a Limelight from 865 for a week to experiment with.