NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-09-26 14:21:52 +02:00
parent 07817b3356
commit 9972ad7e86
1 changed files with 8 additions and 2 deletions
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10
drive_to_aruco.py
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@ -43,13 +43,19 @@ def main():
if arucos != []: if arucos != []:
break break
arlo.go_diff(POWER, POWER, 1, 0) arlo.go_diff(POWER, POWER, 1, 0)
sleep(TURN_T) sleep(3 * TURN_T)
arlo.stop() arlo.stop()
position = cv2.aruco.estimatePoseSingleMarkers( position = cv2.aruco.estimatePoseSingleMarkers(
np.array([arucos[0][0]]), 14.5, CAMERA_MATRIX, DIST_COEF np.array([arucos[0][0]]), 14.5, CAMERA_MATRIX, DIST_COEF
) )[1][0][0]
print(position) print(position)
angle = np.rad2deg(np.arctan(position[0]/position[2]))
print(angle)
# drive_distance = np.sqrt(position[0]**2 + position[2]**2)
if __name__ == "__main__": if __name__ == "__main__":
main() main()