From 4229b692d963df872d51c5caf2aff01636fdba75 Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Wed, 20 Mar 2024 20:30:55 +0100
Subject: [PATCH] repatch

---
 aruco/ArucoDetector.cpp | 2 +-
 utils/utils.cpp         | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/aruco/ArucoDetector.cpp b/aruco/ArucoDetector.cpp
index 554cbfd..4b84312 100644
--- a/aruco/ArucoDetector.cpp
+++ b/aruco/ArucoDetector.cpp
@@ -164,7 +164,7 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
 
     std::sort(result.second.begin(), result.second.end(), [this](const std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>& a, const std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>& b)
     {
-        return distanceBetweenRobotAndTag(robotPose, a.second.first) < distanceBetweenRobotAndTag(robotPose, b.second.first);
+        return distanceBetweenRobotAndTag(*robotPose, a.second.first) < distanceBetweenRobotAndTag(*robotPose, b.second.first);
     });
 
     if (!headless)
diff --git a/utils/utils.cpp b/utils/utils.cpp
index fb1666b..ae23a01 100644
--- a/utils/utils.cpp
+++ b/utils/utils.cpp
@@ -1,6 +1,6 @@
 #include "utils.h"
 
-double distanceBetweenRobotAndTag(Type::RobotPose* robotPose, const cv::Mat& a)
+double distanceBetweenRobotAndTag(const Type::RobotPose& robotPose, const cv::Mat& a)
 {
-    return sqrt(pow(robotPose->position.x + a.at<double>(0, 0), 2) + pow(robotPose->position.y + a.at<double>(1, 0), 2) + pow(robotPose->position.z + a.at<double>(2, 0), 2));
+    return sqrt(pow(robotPose.position.x + a.at<double>(0, 0), 2) + pow(robotPose.position.y + a.at<double>(1, 0), 2) + pow(robotPose.position.z + a.at<double>(2, 0), 2));
 }