增加标签id过滤

2026-03-18 15:34:59 +08:00 · 2026-03-18 15:34:59 +08:00 · 049987f52d
commit 049987f52d
parent 0e267ce936
1 changed files with 38 additions and 35 deletions
--- a/src/openarm_camera/openarm_camera/stereo_hand_depth_node.py
+++ b/src/openarm_camera/openarm_camera/stereo_hand_depth_node.py
@ -177,7 +177,10 @@ class StereoHandDepthNode(Node):
        )
        msg_out = PoseStamped()
        if ids is not None:
+            detected_ids = ids.flatten().tolist()
            cv2.aruco.drawDetectedMarkers(left_rect, corners, ids)
+            if 0 in detected_ids:
+                self.get_logger().info("Detected ArUco id=0")
            # c = corners[0][0]
            # center = c.mean(axis=0)
            # u, v = int(center[0]), int(center[1])