openarm/openarm_test
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

增加标签id过滤

Browse Source
This commit is contained in:
shenchenyang 2026-03-18 15:34:59 +08:00
parent 0e267ce936
commit 049987f52d
1 changed files with 38 additions and 35 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
src/openarm_camera/openarm_camera/stereo_hand_depth_node.py
View File

@ -177,7 +177,10 @@ class StereoHandDepthNode(Node):
) )
msg_out = PoseStamped() msg_out = PoseStamped()
if ids is not None: if ids is not None:
detected_ids = ids.flatten().tolist()
cv2.aruco.drawDetectedMarkers(left_rect, corners, ids) cv2.aruco.drawDetectedMarkers(left_rect, corners, ids)
if 0 in detected_ids:
self.get_logger().info("Detected ArUco id=0")
# c = corners[0][0] # c = corners[0][0]
# center = c.mean(axis=0) # center = c.mean(axis=0)
# u, v = int(center[0]), int(center[1]) # u, v = int(center[0]), int(center[1])