From 671978125fd6ff63535f58c5a5236d42732ad842 Mon Sep 17 00:00:00 2001 From: cyy_mac Date: Thu, 26 Mar 2026 04:05:37 +0800 Subject: [PATCH] reproject force roll and pitch fix --- src/rm_auto_aim/armor_detector/src/armor_pose_estimator.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/rm_auto_aim/armor_detector/src/armor_pose_estimator.cpp b/src/rm_auto_aim/armor_detector/src/armor_pose_estimator.cpp index e0ee969..044dfcc 100644 --- a/src/rm_auto_aim/armor_detector/src/armor_pose_estimator.cpp +++ b/src/rm_auto_aim/armor_detector/src/armor_pose_estimator.cpp @@ -19,6 +19,9 @@ #include "rm_utils/math/utils.hpp" namespace fyt::auto_aim { + +// Forward declaration for forceRPY +Eigen::Matrix3d forceRPY(const Eigen::Matrix3d& R, double forced_roll_deg, double forced_pitch_deg); ArmorPoseEstimator::ArmorPoseEstimator(sensor_msgs::msg::CameraInfo::SharedPtr camera_info) { // Setup pnp solver pnp_solver_ = std::make_unique(camera_info->k, camera_info->d);