vision.py 文件源码

def target_distance(target):
    camera_fov_vert = 41.41
    camera_pitch = 40
    # units in inches
    target_height = 83
    camera_height = 9
    # target[0][1] is [1,-1] y coord from top-bottom
    y = target[0][1]
    return (target_height - camera_height) / math.tan(math.radians((y * camera_fov_vert / 2) + camera_pitch))