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send the position of the tag in the robot xyz base | log rotation matrix

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ackimixs
2024-04-10 12:59:02 +02:00
parent d5489ff2b2
commit c52858aef2
3 changed files with 11 additions and 13 deletions
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6
utils/utils.cpp
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@@ -1,6 +1,6 @@
#include "utils.h"
double distanceBetweenRobotAndTag(const Type::RobotPose& robotPose, const cv::Mat& a)
double distanceBetweenRobotAndTag(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(a.at<double>(0, 0), 2) + pow(a.at<double>(1, 0), 2) + pow(a.at<double>(2, 0), 2));
}