NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-09-21 14:39:34 +02:00
parent fa51978f98
commit 21df2467e6
1 changed files with 2 additions and 2 deletions
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robot/arlo.py
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@ -14,7 +14,7 @@ FOCAL_LENGTH = 1691
DEFAULT_CALIBRATION_CODE = "40.40-40.40-40.40_ff-ff-ff-ff" DEFAULT_CALIBRATION_CODE = "40.40-40.40-40.40_ff-ff-ff-ff"
CAMERA_MATRIX = np.array([[FOCAL_LENGTH,0,512],[0,FOCAL_LENGTH,360],[0,0,1]]) CAMERA_MATRIX = np.array([[FOCAL_LENGTH,0,512],[0,FOCAL_LENGTH,360],[0,0,1]])
DIST_COEF = np.array([1,1,1,1]) DIST_COEF = np.array([0,0,0,0])
def test_forward(arlo, l_power, r_power): def test_forward(arlo, l_power, r_power):
arlo.reset_encoder_counts() arlo.reset_encoder_counts()
@ -104,7 +104,7 @@ class Arlo():
# avg_size = (avg_width + avg_height)/2 # avg_size = (avg_width + avg_height)/2
# return (FOCAL_LENGTH * 14.5)/avg_size # return (FOCAL_LENGTH * 14.5)/avg_size
print(bounding_box)
return cv2.aruco.estimatePoseSingleMarkers( return cv2.aruco.estimatePoseSingleMarkers(
bounding_box, 14.5, CAMERA_MATRIX, DIST_COEF bounding_box, 14.5, CAMERA_MATRIX, DIST_COEF
) )