only integers for rate index

axis-ptz-controller/axis_ptz_controller.py

@@ -846,8 +846,12 @@ def _object_callback(
  include_age=self.include_age,
  lead_time=self.lead_time,
  )
+
  self.object.update_from_msg(data)
  self.object.recompute_location()
+
+ logging.info(f"Tracking object: {self.object.object_id}")
+
  if self.use_camera:
  self._slew_camera(self.object.rho, self.object.tau)
  return
@@ -857,7 +861,7 @@ def _object_callback(
 
  if self.use_camera and self.object.tau < 0:
  logging.info(f"Stopping image capture of object: {self.object.object_id}")
-
+ self.object = None
  self.do_capture = False
  self.status = Status.SLEEPING
  logging.info(

axis-ptz-controller/camera.py

@@ -161,6 +161,8 @@ def _config_log(self) -> None:
  "E_XYZ_to_ENz": self.E_XYZ_to_ENz,
  "E_XYZ_to_uvw": self.E_XYZ_to_uvw,
  "xyz_point": self.xyz_point,
+ "pan_rate_max": self.pan_rate_max,
+ "tilt_rate_max": self.tilt_rate_max,
  }
 
  logging.info(f"Camera configuration: {config}")
@@ -411,6 +413,7 @@ def _compute_pan_rate_index(self, rho_dot: float) -> None:
 
  else:
  self.pan_rate_index = (100 / self.pan_rate_max) * rho_dot
+ self.pan_rate_index = round(self.pan_rate_index)
 
  def _compute_tilt_rate_index(self, tau_dot: float) -> None:
  """Compute tilt rate index between -100 and 100 using rates in
@@ -433,6 +436,8 @@ def _compute_tilt_rate_index(self, tau_dot: float) -> None:
 
  else:
  self.tilt_rate_index = (100 / self.tilt_rate_max) * tau_dot
+
+ self.tilt_rate_index = round(self.tilt_rate_index)
 
  def get_yaw_pitch_roll(self) -> Tuple[float, float, float]:
  """

axis-ptz-controller/camera_control.py

@@ -20,7 +20,6 @@ def continuous_move(self, pan: int = None, tilt: int = None):
  Args:
  pan: speed of movement of Pan.
  tilt: speed of movement of Tilt.
- zoom: speed of movement of Zoom.
 
  Returns:
  Returns the response from the device to the command sent.

axis-ptz-controller/object.py

@@ -322,22 +322,22 @@ def recompute_location(self) -> None:
  )
 
 
- # omega = (
- # axis_ptz_utilities.cross(
- # self.rst_point_lead_relative_to_tripod,
- # self.rst_velocity_msg_relative_to_tripod,
- # )
- # / axis_ptz_utilities.norm(self.rst_point_lead_relative_to_tripod) ** 2
- # )
-
- # The original code use the position when the last MSG was received, not the position with leading, giving this a try
  omega = (
  axis_ptz_utilities.cross(
- self.rst_point_msg_relative_to_tripod,
+ self.rst_point_lead_relative_to_tripod,
  self.rst_velocity_msg_relative_to_tripod,
  )
- / axis_ptz_utilities.norm(self.rst_point_msg_relative_to_tripod) ** 2
+ / axis_ptz_utilities.norm(self.rst_point_lead_relative_to_tripod) ** 2
  )
+
+ # The original code use the position when the last MSG was received, not the position with leading, giving this a try
+ # omega = (
+ # axis_ptz_utilities.cross(
+ # self.rst_point_msg_relative_to_tripod,
+ # self.rst_velocity_msg_relative_to_tripod,
+ # )
+ # / axis_ptz_utilities.norm(self.rst_point_msg_relative_to_tripod) ** 2
+ # )
 
  self.rho_rate = math.degrees(-omega[2])
  self.tau_rate = math.degrees(omega[0])