Object position from off center camera

Technical Programming
1

Just wanted to know if there is any way to do this.

Last year we had an off center limelight that gave us information from April Tags rather well. We stored the location of the camera in the camera and the botpose calculated out for us no problem.

We are looking at bring object detection soon with our coral and I noticed that we get the angle of the object in both x and y directions.

If our camera were centered on the robot then finding the robot turning angle would be easy. What about if it were off center. Let say I don’t use area for size estimation. If our camera is near the edge of our robot and we now its position from robot center can we transform the x and y angles from the camera into robot angles. Not knowing distance to the object?

2

See if this CD thread helps you.

3

I was playing with some of the math on the sheet of paper at the bottom.

So no way in general if you don’t have some size/distance/reference to the object?

4

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