提交更新

TrackingRosEx.cpp

@@ -428,7 +428,7 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
         {
             if (msg->reses[i].results.size() > 0)
             {
-                for (auto& camera_msg : msg->reses[0].results)
+                for (auto& camera_msg : msg->reses[i].results)
                 {
                     int x1 = camera_msg.location[0];
                     int y1 = camera_msg.location[1];
@@ -438,7 +438,18 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
                     int num_class = camera_msg.num_class;
                     float bottom_center_x = (float(x1) + float(x2)) / 2;
                     float bottom_center_y = float(y2);
-
+                    if (i = 0)
+                    {
+                        get_camera_tolidar_loc(bottom_center_x, bottom_center_y, objMsg.x, objMsg.y);
+                    }
+                    else if (i = 1)
+                    {
+                        get_camera_right_tolidar_loc(bottom_center_x, bottom_center_y, objMsg.x, objMsg.y);
+                    }
+                    else if (i = 2)
+                    {
+                        get_camera_left_tolidar_loc(bottom_center_x, bottom_center_y, objMsg.x, objMsg.y);
+                    }
                     jfx_common_msgs::det_tracking objMsg = {};
                     objMsg.frame = int(timestamp);
                     //objMsg.x = float(xy[0])