更新监视脚本绑定方式。

2019-05-07 23:25:34 +08:00
parent bd52fc33fc
commit 9b3178753f
3 changed files with 64 additions and 61 deletions
--- a/armor/src/armor_finder/armor_finder.cpp
+++ b/armor/src/armor_finder/armor_finder.cpp
@@ -57,7 +57,7 @@ void ArmorFinder::run(cv::Mat &src) {
    }
 }

-#define FOCUS_PIXAL      (0.36/0.48*640)
+#define FOCUS_PIXAL      (800)

 bool ArmorFinder::sendBoxPosition() {
    static int dx_add = 0;
@@ -68,6 +68,7 @@ bool ArmorFinder::sendBoxPosition() {
    double dy = rect.y + rect.height/2 - 240 - 30;
    double yaw   = atan(dx / FOCUS_PIXAL) * 180 / 3.14159265459;
    double pitch = atan(dy / FOCUS_PIXAL) * 180 / 3.14159265459;
+    cout << yaw << endl;
    uart.sendTarget(yaw, -pitch, 0);
    return true;
 }