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151aa6f0 · oscar · 1288b4de · 151aa6f0
Commit 151aa6f0 authored Jan 12, 2022 by oscar
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Showing with 7 additions and 5 deletions

TrackingRosEx.cpp TrackingRosEx.cpp +7 -5

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--- a/TrackingRosEx.cpp
+++ b/TrackingRosEx.cpp
@@ -438,22 +438,24 @@ 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);
+                    float x = 0.0f;
+                    float y = 0.0f;
                    if (i = 0)
                    {
-                        get_camera_tolidar_loc(bottom_center_x, bottom_center_y, objMsg.x, objMsg.y);
+                        get_camera_tolidar_loc(bottom_center_x, bottom_center_y, x, y);
                    }
                    else if (i = 1)
                    {
-                        get_camera_right_tolidar_loc(bottom_center_x, bottom_center_y, objMsg.x, objMsg.y);
+                        get_camera_right_tolidar_loc(bottom_center_x, bottom_center_y, x, y);
                    }
                    else if (i = 2)
                    {
-                        get_camera_left_tolidar_loc(bottom_center_x, bottom_center_y, objMsg.x, objMsg.y);
+                        get_camera_left_tolidar_loc(bottom_center_x, bottom_center_y, x, y);
                    }
                    jfx_common_msgs::det_tracking objMsg = {};
                    objMsg.frame = int(timestamp);
-                    //objMsg.x = float(xy[0])
-                    //objMsg.y = float(xy[1])
+                    objMsg.x = x;
+                    objMsg.y = y;
                    objMsg.z = 0;
                    objMsg.score = prob;