NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-09-28 13:55:01 +02:00
parent 35971fbcee
commit 35b4cdbdfe
1 changed files with 2 additions and 7 deletions
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9
drive_between_arucos.py
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@ -39,7 +39,7 @@ def find_aruco(image):
def find_arucos(arlo): def find_arucos(arlo):
aruco_dict = {} aruco_dict = {}
theta = np.deg2rad(30) theta = np.deg2rad(-20)
rot = [[[cos(theta), -sin(theta)], [sin(theta), cos(theta)]]] rot = [[[cos(theta), -sin(theta)], [sin(theta), cos(theta)]]]
while True: while True:
@ -67,12 +67,7 @@ def find_arucos(arlo):
def main(): def main():
arlo = Robot() arlo = Robot()
arucos = find_arucos(arlo) aruco_positions = find_arucos(arlo)
print(arucos)
aruco_positions = np.array([cv2.aruco.estimatePoseSingleMarkers(
np.array([aruco]), 14.5, CAMERA_MATRIX, DIST_COEF
)[1][0][0] for aruco in arucos])
print(aruco_positions) print(aruco_positions)