Quote:
Originally Posted by Jared Russell
This can be a decent enough approximation, but there is a more correct way to do this conversion:
Code:
horizontal_angle_to_goal = atan((goal_x - center_x) / focal_length_pixels)
where:
focal_length_pixels =
.5 * image_width_pixels / tan(horizontal_field_of_view / 2)
|
Are you doing linear approximation or using focal length in real life? I figure since atan approximates a line when the camera is near aligned with the goal, the linear approximation would work more or less identically with any moderate framerate. This is certainly useful if the camera isn't aligned with the robot, though!
Quote:
Originally Posted by Jared Russell
There is a reason why our vision system this season uses a device that provides APIs to fetch pixel array size and focal length information from per-device factory calibration  |
What's your setup for both the camera and processor?