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@@ -87,7 +87,7 @@ while True:
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# Kiểm tra đủ điều kiện
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in_center = is_in_center(cx, cy, new_width, new_height)
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- within_angle = is_roll_valid(roll) and abs(pitch) < ALLOWED_ANGLE_DEG and abs(yaw) < ALLOWED_ANGLE_DEG
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+ within_angle = is_roll_valid(roll)
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within_xyz = (
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ALLOWED_XYZ_RANGE["x"][0] <= x <= ALLOWED_XYZ_RANGE["x"][1] and
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ALLOWED_XYZ_RANGE["y"][0] <= y <= ALLOWED_XYZ_RANGE["y"][1] and
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@@ -115,7 +115,7 @@ while True:
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# --- Visualization ---
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status = marker_states[marker_id]["state"]
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color = {"NOT_SPRAYED": (0, 0, 255), "SPRAYING": (0, 255, 255), "SPRAYED": (0, 255, 0)}[status]
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-
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+
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if visualization:
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cv2.polylines(frame, [corners], True, color, 2)
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cv2.drawFrameAxes(frame, cam_mat, dist_coef, rVec[i], tVec[i], 4, 4)
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