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RoboRally
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make it possible to get positions outside of grid rect

master
Simon Pirkelmann 2021-09-10 00:44:16 +02:00
parent eea1cee1ec
commit a69d45f97e
1 changed files with 6 additions and 2 deletions
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8
remote_control/aruco_estimator.py
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@ -10,6 +10,7 @@ import pyqtgraph as pg
from shapely.geometry import LineString
from shapely.affinity import scale
from queue import Queue
import aruco
@ -448,8 +449,11 @@ class ArucoEstimator:
row_line_top = a + y_frac * vad
row_line_bottom = b + y_frac * vbc
column_line = LineString([column_line_top, column_line_bottom])
row_line = LineString([row_line_top, row_line_bottom])
column_line_orig = LineString([column_line_top, column_line_bottom])
row_line_orig = LineString([row_line_top, row_line_bottom])
column_line = scale(column_line_orig, 10, 10)
row_line = scale(row_line_orig, 10, 10)
int_pt = column_line.intersection(row_line)
point_of_intersection = np.array([int_pt.x, int_pt.y])