NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-09-21 13:07:00 +02:00
parent 280d9037c0
commit 0c13f8cb2e
2 changed files with 5 additions and 4 deletions
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1
estimate_distance.py
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@ -2,6 +2,7 @@ from robot import Arlo
def main(): def main():
arlo = Arlo(False) arlo = Arlo(False)
for _ in range(5):
image = arlo.robot.take_photo() image = arlo.robot.take_photo()
bounding_boxes = arlo.find_aruco(image) bounding_boxes = arlo.find_aruco(image)
print(arlo.estimate_distance(bounding_boxes[0][0])) print(arlo.estimate_distance(bounding_boxes[0][0]))

2
robot/arlo.py
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@ -99,7 +99,7 @@ class Arlo():
avg_size = (avg_width + avg_height)/2 avg_size = (avg_width + avg_height)/2
return (FOCAL_LENGTH * 15)/avg_size return (FOCAL_LENGTH * 14.5)/avg_size
def find_aruco(self, image): def find_aruco(self, image):
aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250) aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250)