visualization is better now

2026-04-10 14:59:19 +08:00
parent 42cbd5c96f
commit 62d2ce8cc6
3 changed files with 39 additions and 2 deletions
@@ -54,6 +54,8 @@ struct TargetObservationDebugInfo {
    float mot_ms = 0.0f;
    float depth_ms = 0.0f;
    float total_ms = 0.0f;
+    std::vector<yolos::pose::PoseResult> poses;
+    std::vector<cv::Point> valid_projected_pixels;
 };

 class TargetObservationProcessor {
@@ -71,6 +73,10 @@ public:

    bool initialized() const { return initialized_; }

+    void draw_detected_poses(
+        cv::Mat& image_bgr,
+        const std::vector<yolos::pose::PoseResult>& poses) const;
+
 private:
    Eigen::MatrixXf format_detections(
        const std::vector<yolos::pose::PoseResult>& poses) const;