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@Geaper from your information that you have given what I would try to do is the following:

1. Calibrate and udistort the drone camera (optional, but recommended)
2. try to detect the squares on the undistorted image, by using the method applied in the official squares.cpp example (check here and here as well for some customizations) or just a simple findcontours() approach which you can combine it with a colour segmentation approach see next step
3. or you can go straight forward for a color segmentation approach based on hardcored colour segmentation on the HSV/YUV colour space or by using more advanced colour(and not only) identification and segmentation techniques like k-means clustering [1], [2], graphcut
4. having applied the above I guess you will get all the info you want

@Geaper from your information that you have given what I would try to do is the following:

1. Calibrate and udistort the drone camera (optional, but recommended)
2. try to detect the squares on the undistorted image, by using the method applied in the official squares.cpp example (check here and here as well for some customizations) or just a simple findcontours() approach which you can combine it with a colour segmentation approach see next step
3. or you can go straight forward for a color segmentation approach based on hardcored colour segmentation on the HSV/YUV colour space or by using more advanced colour(and not only) identification and segmentation techniques like k-means clustering [1], [2], graphcut
4. having applied the above I guess you will get all the info you want

@Geaper from your information that you have given what I would try to do is the following:

1. Calibrate and udistort the drone camera (optional, but recommended)
2. try to detect the squares on the undistorted image, by using the method applied in the official squares.cpp example (check here and here as well for some customizations) or just a simple findcontours() approach which you can combine it with a colour segmentation approach see next step
3. or you can go straight forward for a color segmentation approach based on hardcored colour segmentation on the HSV/YUV colour space or by using more advanced colour(and not only) identification and segmentation techniques like k-means clustering [1], [2], graphcut, etc... I am sure there are more approaches if you search for colour classification, segmentation, etc...
4. having applied the above I guess you will get all the info you want

Unfortunately, I am quite busy this period and I cannot spend that much time but as I said try give some good pictures and maybe someone or me at the end is willing to try something.