From 8728fd88e5750a89a96f06cde2ba6df5ebf05da6 Mon Sep 17 00:00:00 2001 From: lyf <169361657@qq.com> Date: Thu, 4 Dec 2025 20:26:55 +0800 Subject: [PATCH] =?UTF-8?q?=E5=9D=90=E6=A0=87=E5=8F=98=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/MindVisionMain.cpp | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/src/MindVisionMain.cpp b/src/MindVisionMain.cpp index 35b7f09..185922a 100644 --- a/src/MindVisionMain.cpp +++ b/src/MindVisionMain.cpp @@ -30,8 +30,14 @@ void output_control_data(const cv::Point2f* ballistic_point, std::ostringstream send_str; // Calculate offset (based on actual image center) - int ballistic_offset_x = static_cast(ballistic_point->x - img_center.x); - int ballistic_offset_y = static_cast(img_center.y - ballistic_point->y); + int ballistic_offset_x = -static_cast(ballistic_point->x - img_center.x); + if ( abs(ballistic_offset_x) > 320){ + ballistic_offset_x = ( ballistic_offset_x / abs( ballistic_offset_x ) ) * 320 ; + } + int ballistic_offset_y = -static_cast(img_center.y - ballistic_point->y); + if ( abs(ballistic_offset_y) > 180 ) { + ballistic_offset_y = ( ballistic_offset_x / abs( ballistic_offset_x ) ) * 180 ; + } // Color simplification mapping std::string simplified_color = target_color;