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do not take fallen flower

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ackimixs
2024-05-05 22:15:56 +02:00
parent dbeb13d37c
commit 6442a0a7db
1 changed files with 5 additions and 2 deletions
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7
TCPServer.cpp
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@@ -847,13 +847,16 @@ std::vector<int> TCPServer::getNotFallenFlowers(float BorneMin, float BorneMax)
for (auto & tag : arucoTags) {
if (TCPUtils::endWith(tag.name(), "flower") && tag.getNbFind() >= 1) {
auto roll = tag.rot()[1];
auto xPos = tag.pos()[0];
auto yPos = tag.pos()[1];
if (roll < BorneMin && roll > BorneMax) {
if (yPos > 70) {
if (xPos > 800) continue;
if (yPos > 70 && yPos < 200) {
res[2] = -1;
}
else if (yPos < -70) {
else if (yPos < -70 && yPos > -200) {
res[0] = -1;
}
else {