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04a20389 · oscar · 9dd3f08c · 04a20389
Commit 04a20389 authored Jan 13, 2022 by oscar
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Showing with 7 additions and 4 deletions

TrackingRosEx.cpp TrackingRosEx.cpp +7 -4

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--- a/TrackingRosEx.cpp
+++ b/TrackingRosEx.cpp
@@ -530,12 +530,15 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo

                    objMsg.x = objMsg.x + (objMsg.l / 2);
                    int duplicate = 0;
-                    for (auto& obj : cloudPtr->array)
+                    if (i == 0)
                    {
-                        if (abs(obj.x - objMsg.x) < std::max(objMsg.l * 1.2, (double)2.0) && abs(obj.y - objMsg.y) < std::max(objMsg.w * 1.2, (double)2.0))
+                        for (auto& obj : cloudPtr->array)
                        {
-                            duplicate = 1;
-                            break;
+                            if (abs(obj.x - objMsg.x) < std::max(objMsg.l * 1.2, (double)2.0) && abs(obj.y - objMsg.y) < std::max(objMsg.w * 1.2, (double)2.0))
+                            {
+                                duplicate = 1;
+                                break;
+                            }
                        }
                    }
                    if (duplicate == 0)