From 776f44f2714d8cd8503522474c45de1eacc74b3b Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Wed, 17 Apr 2024 09:57:57 +0200
Subject: [PATCH] change calculation fo distance

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

diff --git a/aruco/ArucoDetector.cpp b/aruco/ArucoDetector.cpp
index d047c04..fb1a86d 100644
--- a/aruco/ArucoDetector.cpp
+++ b/aruco/ArucoDetector.cpp
@@ -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)
diff --git a/utils/utils.cpp b/utils/utils.cpp
index b257d27..98ff43b 100644
--- a/utils/utils.cpp
+++ b/utils/utils.cpp
@@ -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));
 }
\ No newline at end of file
diff --git a/utils/utils.h b/utils/utils.h
index 0793b5c..f219e54 100644
--- a/utils/utils.h
+++ b/utils/utils.h
@@ -18,4 +18,4 @@ enum Team
     YELLOW
 };
 
-double distanceBetweenRobotAndTag(const cv::Mat& a);
\ No newline at end of file
+double distanceBetweenRobotAndTagOnXY(const cv::Mat& a);
\ No newline at end of file