Merge pull request #16 from truher/main

add cx, cy output
Team100 · Jan 30, 2025 · 02cde72 · 02cde72
2 parents f6b88b3 + bd54de6
commit 02cde72
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/raspberry_pi/app/dashboard/real_display.py b/raspberry_pi/app/dashboard/real_display.py
@@ -55,12 +55,17 @@ def tag(self, image: MatLike, tag: AprilTagDetection, pose: Transform3d) -> None
 
         (c_x, c_y) = (int(tag.getCenter().x), int(tag.getCenter().y))
         circle(image, (c_x, c_y), 10, WHITE, -1)
+        # this is for lens calibration
+        self.text(
+            image,
+            f"cx:{c_x:4.1f} cy:{c_y:4.1f}",
+            (5, 140),
+        )
 
         tag_id = tag.getId()
         self.text(image, f"id {tag_id}", (c_x, c_y))
 
         # type the translation into the image, in WPI coords (x-forward)
-
         t = pose.translation()
         self.text(
             image,