Tracking Rectangles

[faust1706]

Originally Posted by Ginto8

Thinking through it a little, it seems that for a rectangular target you could use the ratios in length of opposite edges to find the Euler angles of its plane. To figure out the formula to calculate that, though, I'd need some paper and a lot of pacing. I'd definitely like to see your work once it's complete!

If you sit down and think about it for a second, you realize that the whole rotation matrix can be solved without doing pose. the object points are all on a single plane, which in itself makes things simpler, but it also IS the YZ, and it doesn't go into the XY plane at all, which is nice. That means that roll is constant. You can calculate pitch and yaw by proportions with the FOV vs image resolution. Great, now we have the rotation and camera matrix known. the only thing to solve for is the translation matrix. Hurray! This can be done in 2 ways, "plugging in" the rotation matrix into the standard pose equations, or using geometry. I did the geometry approach already, it works. Coded and everything. Currently doing the linear algebra approach. I want to know which one is quicker fps wise. Then, since my team loves gyros but hates the gyro climb, I'm going to use my "pose" as a check on the gyro. So when I have a pose solution, it will fix the gyro readings. I trust my linear algebra more than a gyro that has climbed over 10 rps in the pits.