Update detect.py

object-tracker/opencv/detect.py

@@ -88,16 +88,18 @@ def detectCoralDevBoard():
 GainX = 0.2
 GainY = 0.2
 
-def processCoordinates(x,y):
+def motionControl(x,y):
  targetCoordinates = [x,y]
- targetCoordinates[0] = float(targetCoordinates[0])/(Resolution[0]/2.0)*Signage[0] # Convert X coordinate to be distance from frame center
- targetCoordinates[1] = float(targetCoordinates[1])/(Resolution[1]/2.0)*Signage[1] # Convert Y coordinate to be distance from frame center
+ targetCoordinates[0] = (float(targetCoordinates[0]) - (Resolution[0]/2.0))*Signage[0] # X: Convert frame coordinate to center coordinate
+ targetCoordinates[1] = (float(targetCoordinates[1]) - (Resolution[1]/2.0))*Signage[1] # Y: Convert frame coordinate to center coordinate
  targetCoordinates[0]*=GainX # Apply Control Gain in X direction
  targetCoordinates[1]*=GainY # Apply Control Gain in Y direction
- targetCoordinates[0] = int(targetCoordinates[0]*(Resolution[0]/2.0)) * Signage[0]
- targetCoordinates[1] = int(targetCoordinates[1]*(Resolution[0]/2.0)) * Signage[1]
+
+ targetCoordinates[0] = (float(targetCoordinates[0]) + (Resolution[0]/2.0))*Signage[0] # X: Convert center coordinate to frame coordinate
+ targetCoordinates[1] = (float(targetCoordinates[1]) - (Resolution[1]/2.0))*Signage[1] # Y: Convert center coordinate to frame coordinate
  return targetCoordinates
 
+
 def main():
  global mot_tracker
  global mqtt_bridge