BRSRI/bellande_humanoid_robot_intelligence_control_system_architecture
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

modified the gain of face_tracking

Browse Source
This commit is contained in:
Kayman 2017-07-20 09:24:11 +09:00
parent 2bf662fda0
commit 5858760778
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
op3_demo/src/vision/face_tracker.cpp
View File

@ -149,7 +149,7 @@ int FaceTracker::processTracking()
face_position_.z = 0;
count_not_found_ = 0;
double p_gain = 0.6, d_gain = 0.25;
double p_gain = 0.5, 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;