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bug fix in calibration

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ori agranat
2019-09-25 11:08:59 -07:00
parent 42db3c12b5
commit 69bb4bc562
1 changed files with 1 additions and 1 deletions
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Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -153,7 +153,7 @@ public class VisionProcess implements Runnable {
pipelineResult.CalibratedY = camera.getCamVals().CenterY;
} else {
pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.B) / currentPipeline.M;
pipelineResult.CalibratedY = finalRect.center.x * currentPipeline.M + currentPipeline.B;
pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.M) + currentPipeline.B;
}
pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);