Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-07-03 03:01:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

bug fixes for calibration module

Browse Source
This commit is contained in:
ori
2019-08-10 10:16:49 -07:00
parent 81667b7b98
commit f8e846dda0
4 changed files with 22 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
backend/app/handlers/SocketHandler.py
View File

@@ -1,3 +1,5 @@
import asyncio
import tornado.websocket
import json
from ..classes.Exceptions import NoCameraConnectedException
@@ -14,7 +16,7 @@ def send_all_async(message):
web_socket_clients.remove(ws)
else:
try:
ws.write_message(message)
ws.write_message(json.dumps(message))
except AssertionError as a:
pass
except AssertionError:
@@ -47,11 +49,14 @@ class ChameleonWebSocket(tornado.websocket.WebSocketHandler):
print("WebSocket opened")
def on_message(self, message):
message_dic = json.loads(message)
try:
message_dic = json.loads(message)
for key in message_dic:
self.actions.get(key, self.actions["change_pipeline_values"])(message_dic)
print(message)
for key in message_dic:
self.actions.get(key, self.actions["change_pipeline_values"])(message_dic)
print(message)
except:
print("crash " + message)
def on_close(self):
self.settings_manager.save_settings()

5
backend/app/handlers/VisionHandler.py
View File

@@ -241,7 +241,6 @@ class VisionHandler(metaclass=Singleton):
return pitch
def calculate_yaw(self, pixel_x, center_x, h_focal_length):
yaw = math.degrees(math.atan((pixel_x - center_x) / h_focal_length))
return yaw
@@ -389,8 +388,8 @@ class VisionHandler(metaclass=Singleton):
center = final_contour[0]
center_x = (center[1] - curr_pipeline['B']) / curr_pipeline["M"]
center_y = (center[0] * curr_pipeline["M"]) + curr_pipeline["B"]
pitch = self.calculate_pitch(pixel_y=center[1], center_y=center_x, v_focal_length=V_FOCAL_LENGTH)
yaw = self.calculate_yaw(pixel_x=center[0], center_x=center_y, h_focal_length=H_FOCAL_LENGTH)
pitch = self.calculate_pitch(pixel_y=center[1], center_y=center_y, v_focal_length=V_FOCAL_LENGTH)
yaw = self.calculate_yaw(pixel_x=center[0], center_x=center_x, h_focal_length=H_FOCAL_LENGTH)
valid = True
except IndexError:
center = None