From d6b87f8360abe7f35e8ece8409a0b5b4813ad293 Mon Sep 17 00:00:00 2001 From: Max Date: Tue, 21 Sep 2021 14:44:30 +0100 Subject: [PATCH] Update --- Control/Jetson/vision_cargo_approach.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Control/Jetson/vision_cargo_approach.py b/Control/Jetson/vision_cargo_approach.py index 8713262..a95b1f7 100644 --- a/Control/Jetson/vision_cargo_approach.py +++ b/Control/Jetson/vision_cargo_approach.py @@ -147,7 +147,7 @@ class VisionCargoApproacher: 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.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 = 3500 # 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 = 3200 # 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_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