zenloger/autopilot
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fix: enchance error

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russian_proger
2025-10-01 21:28:30 +03:00
parent 4d3e0d0e59
commit 7610fc6f50
2 changed files with 4 additions and 4 deletions
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6
autopilot.py
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@@ -27,7 +27,7 @@ class PilotCommand:
self.stop = stop self.stop = stop
self.velocity = velocity self.velocity = velocity
MOVE_KOF: float = 0.8274 MOVE_KOF: float = 1 / 1.2
class AutoPilot(Pilot): class AutoPilot(Pilot):
@@ -141,8 +141,8 @@ class AutoPilot(Pilot):
Точки уже отцентрированы относительно центра изображения Точки уже отцентрированы относительно центра изображения
""" """
# Используем RANSAC для оценки матрицы гомографии # Используем RANSAC для оценки матрицы гомографии
H, mask = cv2.findHomography(src_pts, dst_pts, cv2.RANSAC, 5.0) H, mask = cv2.findHomography(src_pts, dst_pts, cv2.RANSAC, 1.0)
RH, rmask = cv2.findHomography(dst_pts, src_pts, cv2.RANSAC, 5.0) RH, rmask = cv2.findHomography(dst_pts, src_pts, cv2.RANSAC, 1.0)
if H is None: if H is None:
return None return None

2
main.py
View File

@@ -101,7 +101,7 @@ def main():
print("DEBUG SIZE:", photo.size) print("DEBUG SIZE:", photo.size)
vis_manager.update_display() vis_manager.update_display()
vis_manager.pause(10) vis_manager.pause(5)
for i in range(10000000000): for i in range(10000000000):
photo = simulator.get_photo() photo = simulator.get_photo()