BRSRI/bellande_humanoid_robot_intelligence_control_system_architecture
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modified gain for face tracking.

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Kayman 2017-07-20 08:37:55 +09:00
parent 937682bc50
commit 2bf662fda0
1 changed files with 1 additions and 2 deletions
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3
op3_demo/src/vision/face_tracker.cpp
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@ -149,7 +149,7 @@ int FaceTracker::processTracking()
face_position_.z = 0;
count_not_found_ = 0;
double p_gain = 0.7, d_gain = 0.45;
double p_gain = 0.6, d_gain = 0.25;
double x_error_diff = x_error - current_face_pan_;
double y_error_diff = y_error - current_face_tilt_;
double x_error_target = x_error * p_gain + x_error_diff * d_gain;
@ -205,4 +205,3 @@ void FaceTracker::scanFace()
}
}