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reproject

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cyy_mac
2026-03-26 03:30:09 +08:00
parent 2586e793e5
commit d9e5e42e88
1 changed files with 5 additions and 1 deletions
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6
src/rm_auto_aim/armor_detector/src/armor_detector_node.cpp
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@@ -356,7 +356,11 @@ void ArmorDetectorNode::processFrame(PendingFrame frame) {
// Draw reprojection for each armor with pose
for (const auto& armor : armors_msg.armors) {
if (armor.pose.position.x > 0) { // Valid pose check
// Check depth (Z coordinate in camera frame) is positive for valid pose
double depth = std::sqrt(armor.pose.position.x * armor.pose.position.x +
armor.pose.position.y * armor.pose.position.y +
armor.pose.position.z * armor.pose.position.z);
if (depth > 0.1) { // Valid depth check (at least 10cm away)
drawArmorFromMsg(debug_img, armor, K, dist_coeffs, cv::Scalar(255, 0, 255), 2);
}
}