UGA-Innovation-Factory/UR10-Sentry
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V1.0.0 sentry follows properly

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Tomás L
2024-07-19 15:48:42 -04:00
parent 685c1db246
commit 9b8f4d60c0
5 changed files with 23 additions and 19 deletions
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6
BBoxProcessor.py
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@@ -14,7 +14,7 @@ class BBoxProcessor:
"""
new_boxes = self.process_next(new_boxes)
closest_box = self.get_box_closest_to_center(new_boxes)
if closest_box is None:
if closest_box == []:
return [0, 0]
print("Closest box: ", closest_box, "All: ", new_boxes)
return self.get_normalized_box_position(closest_box)
@@ -49,7 +49,7 @@ class BBoxProcessor:
closest = None
for new_box in new_boxes:
new_distance = self.bbox_distance(box, new_box)
if new_distance < min_distance and new_distance < distance:
if (new_distance < min_distance and new_distance < distance):
distance = new_distance
closest = new_box
@@ -58,7 +58,7 @@ class BBoxProcessor:
and timestamp < self.last_timestamps[index] + time_to_live
):
new_boxes_list.append(box)
new_timestamps_list.append(timestamp)
new_timestamps_list.append(self.last_timestamps[index])
self.last_boxes = new_boxes_list
self.last_timestamps = new_timestamps_list