fixed body-frame outlier rejection

ctu-mrs · Sep 8, 2024 · 46a728b · 46a728b
1 parent 680d4ac
commit 46a728b
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/ros_packages/mrs_landing_pad_estimation/src/landing_pad_estimation.cpp b/ros_packages/mrs_landing_pad_estimation/src/landing_pad_estimation.cpp
@@ -257,7 +257,7 @@ void LandingPadEstimation::callbackTagDetections(const apriltag_ros::AprilTagDet
       return;
     }
 
-    if (std::hypot(tag_pose->pose.pose.position.x, tag_pose->pose.pose.position.y, tag_pose->pose.pose.position.z) > max_relative_distance_) {
+    if (std::hypot(result->pose.pose.position.x, result->pose.pose.position.y, result->pose.pose.position.z) > max_relative_distance_) {
       ROS_WARN_THROTTLE(1.0, "[LandingPadEstimation]: detection too far from the UAV");
       return;
     }