NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-09-21 12:45:32 +02:00
parent 14c78e2023
commit b8abaee518
1 changed files with 13 additions and 3 deletions
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16
robot/arlo.py
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@ -8,7 +8,7 @@ START_VALUES = [60, 60]
THRESHOLD = 1.05 THRESHOLD = 1.05
SLEEP_TIME = 2 SLEEP_TIME = 2
FOCAL_LENGTH = 0 FOCAL_LENGTH = 1691
def test_forward(arlo, l_power, r_power): def test_forward(arlo, l_power, r_power):
arlo.reset_encoder_counts() arlo.reset_encoder_counts()
@ -84,7 +84,17 @@ class Arlo():
self.robot.stop() self.robot.stop()
def estimate_distance(self, bounding_box): def estimate_distance(self, bounding_box):
average_left = bounding_box[0][0] avg_left = (bounding_box[0][0] + bounding_box[3][0])/2
avg_right = (bounding_box[1][0] + bounding_box[2][0])/2
avg_up = (bounding_box[0][1] + bounding_box[1][1])/2
avg_down = (bounding_box[2][1] + bounding_box[3][1])/2
avg_width = avg_right - avg_left
avg_height = avg_down - avg_up
avg_size = (avg_width + avg_height)/2
return (FOCAL_LENGTH * 15)/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)
@ -95,7 +105,7 @@ class Arlo():
parameters=aruco_params parameters=aruco_params
) )
return zip(corners, ids) return zip(corners, ids) if corners is not None else []
def draw_arucos(self, image, bounding_boxes): def draw_arucos(self, image, bounding_boxes):
for bounding, n in bounding_boxes: for bounding, n in bounding_boxes: