From 4e6fadc00ab6518b27739e2d19abcfcee10fbce9 Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Fri, 3 May 2024 11:04:39 +0200
Subject: [PATCH] exclude bad plant

---
 TCPServer.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/TCPServer.cpp b/TCPServer.cpp
index c791fa4..04e90a9 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -743,6 +743,12 @@ void TCPServer::handleArucoTag(ArucoTag &tag) {
         return;
     }
 
+    auto rotArray = tag.rot();
+
+    if (rotArray[2] > 0.3 && rotArray[2] < -0.3 && rotArray[0] > 3 && rotArray[0] < 2.5) {
+        return;
+    }
+
     for (auto& t : arucoTags) {
         if (tag.id() == t.id()) {
             float tPosX = t.pos()[0];