//correct pick up

Number of ellipses = 3
Centroid = c:[331.094, 255.294, 0]
semimajor = 30.819
semiminor = 29.5711
Distance to expected centroid = 2.45946
Centroid = c:[632.478, 277.211, 0]
semimajor = 8.04434
semiminor = 4.84166
Distance to expected centroid = 303.326
Centroid = c:[548.594, 337.406, 0]
semimajor = 7.62887
semiminor = 3.42492
Distance to expected centroid = 234.201

//no can

Number of ellipses = 2
Centroid = c:[631.247, 276.986, 0]
semimajor = 7.90523
semiminor = 3.42477
Distance to expected centroid = 302.08
Centroid = c:[547.321, 336.607, 0]
semimajor = 6.15538
semiminor = 3.92
Distance to expected centroid = 232.727

//can in another place

Number of ellipses = 3
Centroid = c:[254.111, 332.302, 0]
semimajor = 42.7172
semiminor = 24.3711
Distance to expected centroid = 109.818
Centroid = c:[547.494, 336.519, 0]
semimajor = 9.64817
semiminor = 3.93437
Distance to expected centroid = 232.856
Centroid = c:[632.603, 277.63, 0]
semimajor = 7.56544
semiminor = 4.14754
Distance to expected centroid = 303.484

left
pan	1.5707
tilt	0
roll	-.7854

Cylinder radius = 32.4862
OpenGripper(0.2)

Cylinder radius = 28.7063
Centroid = a:[442.024, -68.3065, 52.1932]

OpenGripper(0.06)

m = (0.2 - 0.06) / (32.4862 - 28.7063) = 0.03703801687
b = -m*x1 + y1 = -1.00322442368