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bug fix in vision correction

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ori agranat
2019-08-30 23:22:43 +03:00
parent 2d6412c2bc
commit 3112ac74f1
1 changed files with 6 additions and 2 deletions
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8
backend/app/handlers/CameraHander.py
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@@ -208,8 +208,12 @@ class CameraHandler:
try:
center = final_contour[0]
center_x = (center[1] - curr_pipeline['B']) / curr_pipeline["M"]
center_y = (center[0] * curr_pipeline["M"]) + curr_pipeline["B"]
if curr_pipeline["M"] == 1 and curr_pipeline["B"] == 0:
center_x = centerX
center_y = centerY
else:
center_x = (center[1] - curr_pipeline['B']) / curr_pipeline["M"]
center_y = (center[0] * curr_pipeline["M"]) + curr_pipeline["B"]
pitch = self.vision_handler.calculate_pitch(pixel_y=center[1], center_y=center_y, v_focal_length=V_FOCAL_LENGTH)
yaw = self.vision_handler.calculate_yaw(pixel_x=center[0], center_x=center_x, h_focal_length=H_FOCAL_LENGTH)
valid = True