From bda0306ce07d827bfe7de56e6bc8765faf70efa3 Mon Sep 17 00:00:00 2001 From: cyy_mac Date: Thu, 26 Mar 2026 03:04:29 +0800 Subject: [PATCH] yolo roi binary fix --- .../armor_yolo_detect/src/armor_yolo_detector_node.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/rm_auto_aim/armor_yolo_detect/src/armor_yolo_detector_node.cpp b/src/rm_auto_aim/armor_yolo_detect/src/armor_yolo_detector_node.cpp index 860673f..890e73a 100644 --- a/src/rm_auto_aim/armor_yolo_detect/src/armor_yolo_detector_node.cpp +++ b/src/rm_auto_aim/armor_yolo_detect/src/armor_yolo_detector_node.cpp @@ -414,6 +414,11 @@ std::vector ArmorYoloDetectorNode::detectArmors( // Convert ROS img to cv::Mat auto img = cv_bridge::toCvShare(img_msg, "bgr8")->image; + // Enable debug on detector if needed (before detect() so binary img gets stored) + if (debug_ && debug_result_img_) { + detector_->enable_debug = true; + } + // Run detection: YOLO for ROI + traditional vision for refinement auto armors = detector_->detect(img);