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change calculation fo distance

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ackimixs
2024-04-17 09:57:57 +02:00
parent 4e926f0cdd
commit 776f44f271
3 changed files with 4 additions and 4 deletions
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2
aruco/ArucoDetector.cpp
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@@ -212,7 +212,7 @@ 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(a.second.first) < distanceBetweenRobotAndTag(b.second.first);
return distanceBetweenRobotAndTagOnXY(a.second.first) < distanceBetweenRobotAndTagOnXY(b.second.first);
});
if (!headless)

4
utils/utils.cpp
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@@ -1,6 +1,6 @@
#include "utils.h"
double distanceBetweenRobotAndTag(const cv::Mat& a)
double distanceBetweenRobotAndTagOnXY(const cv::Mat& a)
{
return sqrt(pow(a.at<double>(0, 0), 2) + pow(a.at<double>(1, 0), 2) + pow(a.at<double>(2, 0), 2));
return sqrt(pow(a.at<double>(0, 0), 2) + pow(a.at<double>(2, 0), 2));
}

2
utils/utils.h
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@@ -18,4 +18,4 @@ enum Team
YELLOW
};
double distanceBetweenRobotAndTag(const cv::Mat& a);
double distanceBetweenRobotAndTagOnXY(const cv::Mat& a);