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Max 2021-09-21 14:38:27 +01:00
parent c1af30ab68
commit 8087ef2e53
1 changed files with 1 additions and 1 deletions
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Control/Jetson/vision_cargo_approach.py
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@ -147,7 +147,7 @@ class VisionCargoApproacher:
self.no_detects = 0 # for how many frames did we not detect an apriltag (stops forklift) self.no_detects = 0 # for how many frames did we not detect an apriltag (stops forklift)
self.no_detect_limit = 3 # how many no detect frames are allowed to pass before we stop the forklift self.no_detect_limit = 3 # how many no detect frames are allowed to pass before we stop the forklift
# self.max_approach_area_thresh = 3000 # How much area should the Apriltag take up (pixels) before we send the stop comand (how close to the cargo do we stop) # self.max_approach_area_thresh = 3000 # How much area should the Apriltag take up (pixels) before we send the stop comand (how close to the cargo do we stop)
self.max_approach_area_thresh = 4500 # How much area should the Apriltag take up (pixels) before we send the stop comand (how close to the cargo do we stop) self.max_approach_area_thresh = 5500 # How much area should the Apriltag take up (pixels) before we send the stop comand (how close to the cargo do we stop)
self.centre_distance_thresh = (-0.2, 0.2) # horizontal tolerance for pallet alignment pre fork alignment self.centre_distance_thresh = (-0.2, 0.2) # horizontal tolerance for pallet alignment pre fork alignment
self.centre_angle_thresh = (-0.2, 0.2) # angular tolerance for pallet alignment pre fork alignment self.centre_angle_thresh = (-0.2, 0.2) # angular tolerance for pallet alignment pre fork alignment
self.horizontal_camera_offset = 0 # In case the camera isn't perfectly straight, we can compansate for that in code self.horizontal_camera_offset = 0 # In case the camera isn't perfectly straight, we can compansate for that in code