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Signed-off-by: Nano <nanoticity@gmail.com>
charliehuang09
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Mar 15, 2026
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Pull request overview
Fixes the integration test’s visualization so that AprilTag corner markers don’t accumulate across frames, keeping the streamed debug output accurate for repeated processing of the same underlying camera frame.
Changes:
- Draws detection corner circles onto a cloned display frame instead of mutating the camera-provided frame.
- Streams the annotated clone rather than the original frame.
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| LOG(INFO) << position_estimate; | ||
| } | ||
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| cv::Mat display_frame = timestamped_frame.frame.clone(); |
| } | ||
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| streamer.WriteFrame(timestamped_frame.frame); | ||
| streamer.WriteFrame(display_frame); |
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