reproject force roll and pitch fix

2026-03-26 04:05:37 +08:00
parent 7446feae20
commit 671978125f
1 changed files with 3 additions and 0 deletions
--- 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<PnPSolver>(camera_info->k, camera_info->d);