NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-10-31 15:20:21 +01:00
parent 9cc3b41f87
commit f93a046270
1 changed files with 5 additions and 2 deletions
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7
selflocalization/camera.py
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@ -100,7 +100,7 @@ class CaptureThread(threading.Thread):
class Camera(object): class Camera(object):
"""This class is responsible for doing the image processing. It detects known landmarks and """This class is responsible for doing the image processing. It detects known landmarks and
measures distances and orientations to these.""" measures distances and orientations to these."""
def __init__(self, camidx, robottype='arlo', useCaptureThread=False): def __init__(self, camidx, robottype='arlo', useCaptureThread=False):
@ -309,7 +309,10 @@ class Camera(object):
if not isinstance(self.ids, type(None)): if not isinstance(self.ids, type(None)):
dists = np.linalg.norm(self.tvecs, axis=len(self.tvecs.shape) - 1) * 100 dists = np.zeros(len(self.tvects), dtype=self.tvecs.dtype)
for i, tvec in enumerate(self.tvecs):
dists[i] = np.sqrt(tvec[0][0]**2 + tvec[0][2]**2)
# Make sure we always return properly shaped arrays # Make sure we always return properly shaped arrays
dists = dists.reshape((dists.shape[0],)) dists = dists.reshape((dists.shape[0],))
ids = self.ids.reshape((self.ids.shape[0],)) ids = self.ids.reshape((self.ids.shape[0],))