From 3112ac74f197b6bdc81ed569c3c9fd1afa7ae6bc Mon Sep 17 00:00:00 2001 From: ori agranat Date: Fri, 30 Aug 2019 23:22:43 +0300 Subject: [PATCH] bug fix in vision correction --- backend/app/handlers/CameraHander.py | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/backend/app/handlers/CameraHander.py b/backend/app/handlers/CameraHander.py index 708dfddb4..85b190271 100644 --- a/backend/app/handlers/CameraHander.py +++ b/backend/app/handlers/CameraHander.py @@ -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