yolo roi binary

src/rm_auto_aim/armor_yolo_detect/include/armor_yolo_detect/armor_yolo_detector.hpp

@@ -120,6 +120,7 @@ public:
   // Debug
   bool enable_debug = false;
   cv::Mat debug_img;
+  cv::Mat debug_binary_img;
 
   // Store ROI rectangles for debug drawing
   std::vector<cv::Rect> debug_rois_;

src/rm_auto_aim/armor_yolo_detect/include/armor_yolo_detect/armor_yolo_detector_node.hpp

@@ -99,6 +99,7 @@ private:
 
   // Image transport for debug
   image_transport::Publisher result_img_pub_;
+  image_transport::Publisher binary_img_pub_;
 
   // TF
   std::shared_ptr<tf2_ros::Buffer> tf2_buffer_;

src/rm_auto_aim/armor_yolo_detect/src/armor_yolo_detector.cpp

@@ -71,6 +71,11 @@ std::vector<fyt::auto_aim::Armor> Detector::detect(const cv::Mat& input) {
   cv::Mat full_binary_img;
   cv::threshold(gray_img, full_binary_img, binary_thres, 255, cv::THRESH_BINARY);
 
+  // Store binary image for debug visualization
+  if (enable_debug) {
+    debug_binary_img = full_binary_img.clone();
+  }
+
   uint64_t current_frame = frame_counter_.fetch_add(1, std::memory_order_relaxed);
 
   // Update YOLO objects based on mode

src/rm_auto_aim/armor_yolo_detect/src/armor_yolo_detector_node.cpp

@@ -437,6 +437,12 @@ std::vector<fyt::auto_aim::Armor> ArmorYoloDetectorNode::detectArmors(
     // Publish result image
     result_img_pub_.publish(
       cv_bridge::CvImage(img_msg->header, "bgr8", detector_->debug_img).toImageMsg());
+
+    // Publish binary image if available
+    if (!detector_->debug_binary_img.empty()) {
+      binary_img_pub_.publish(
+        cv_bridge::CvImage(img_msg->header, "mono8", detector_->debug_binary_img).toImageMsg());
+    }
   }
 
   if (debug_publish_ms != nullptr) {
@@ -554,10 +560,12 @@ void ArmorYoloDetectorNode::setModeCallback(
 
 void ArmorYoloDetectorNode::createDebugPublishers() {
   result_img_pub_ = image_transport::create_publisher(this, "armor_detector/result_img");
+  binary_img_pub_ = image_transport::create_publisher(this, "armor_detector/binary_img");
 }
 
 void ArmorYoloDetectorNode::destroyDebugPublishers() {
   result_img_pub_.shutdown();
+  binary_img_pub_.shutdown();
 }
 
 void ArmorYoloDetectorNode::refreshDebugPublishersIfNeeded() {