From 46a728b682b1c654fbe878e42ed8112faa0c57ae Mon Sep 17 00:00:00 2001 From: Tomas Baca Date: Sun, 8 Sep 2024 08:57:56 +0200 Subject: [PATCH] fixed body-frame outlier rejection --- .../mrs_landing_pad_estimation/src/landing_pad_estimation.cpp | 2 +- 1 file changed, 1 insertion(+), 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 index 4412219..4bb1df7 100644 --- 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; }