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Vertical-Attempt-1

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This commit is contained in:
Tomás L
2024-07-22 18:36:51 -04:00
parent 0445a7354e
commit 7694f1a968
4 changed files with 92 additions and 43 deletions
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16
BBoxProcessor.py
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@@ -16,8 +16,10 @@ class BBoxProcessor:
closest_box = self.get_box_closest_to_center(new_boxes)
if closest_box == []:
return None
print("Closest box: ", closest_box, "All: ", new_boxes)
return self.get_normalized_box_position(closest_box)
#print("Closest box: ", closest_box, "All: ", new_boxes)
joystick_position = self.get_normalized_box_position(closest_box)
#print("Joystick position: ", joystick_position)
return joystick_position
def bbox_distance(self, box1: list, box2: list) -> float:
"""
@@ -66,13 +68,14 @@ class BBoxProcessor:
def get_box_closest_to_center(self, box_list: list) -> list:
"""
Returns the BBox closest to the center (500, 500)
Returns the BBox closest to the biased center (500, 300)
"""
closest = []
closest_distance = 9999
for box in box_list:
# Bias Y towards the top of the screen (use [500, 300] instead of the real center)
distance = math.sqrt(
(box[0] + box[2] / 2 - 500) ** 2 + (box[1] + box[3] / 2 - 500) ** 2
(box[0] + box[2] / 2 - 500) ** 2 + (box[1] + box[3] / 2 - 300) ** 2
)
if distance < closest_distance:
closest = box
@@ -83,4 +86,7 @@ class BBoxProcessor:
"""
Returns the normalized position of a bounding box, shringking its range from 0 to 1000 to 0 to 1
"""
return [round((box[0] + box[2] / 2) / 500.0 - 1, 3), round((box[1] + box[3] / 2) / 500 - 1, 3)]
#return [round((box[0] + box[2] / 2) / 500.0 - 1, 3), round((box[1] + box[3] / 2) / 500 - 1, 3)]
# Divide the height of the box by 3 to bias the Y joystick towards the head
return [round((box[0] + box[2] / 2) / 500.0 - 1, 3), round((box[1] + box[3] / 3) / 500 - 1, 3)]