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bug fixes for calibration module

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ori
2019-08-10 10:16:49 -07:00
parent 81667b7b98
commit f8e846dda0
4 changed files with 22 additions and 10 deletions
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5
backend/app/handlers/VisionHandler.py
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@@ -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