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reproject force roll and pitch fix

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cyy_mac
2026-03-26 04:05:37 +08:00
parent 7446feae20
commit 671978125f
1 changed files with 3 additions and 0 deletions
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3
src/rm_auto_aim/armor_detector/src/armor_pose_estimator.cpp
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@@ -19,6 +19,9 @@
#include "rm_utils/math/utils.hpp" #include "rm_utils/math/utils.hpp"
namespace fyt::auto_aim { 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) { ArmorPoseEstimator::ArmorPoseEstimator(sensor_msgs::msg::CameraInfo::SharedPtr camera_info) {
// Setup pnp solver // Setup pnp solver
pnp_solver_ = std::make_unique<PnPSolver>(camera_info->k, camera_info->d); pnp_solver_ = std::make_unique<PnPSolver>(camera_info->k, camera_info->d);