提交消息发送类型

TrackingRosEx.cpp

@@ -276,6 +276,9 @@ void TrackingRos::Init(ros::NodeHandle& nh)
     values.push_back(matrix_angle_r_value);
     m_tracker.SetValues(values);
 
+    nh.param<int32_t>("detect_recv_msg_only", m_recvMsgBit, 0b1111);
+    SDK_LOG(SDK_INFO, "detect_recv_msg_only = %d", m_recvMsgBit);
+
     YAML::Node config = YAML::LoadFile(file.c_str());
     auto cfg = config["TRACKING"];
     m_trans = cfg["TRANS"].as<std::vector<std::vector<double>>>();
@@ -384,7 +387,11 @@ void TrackingRos::TrackingCallBackFunc(const jfx_common_msgs::det_tracking_array
     //m_pubCloud.publish(msg->cloud);
 }
 
-
+inline int _GET_VALID_VALUE(unsigned char position, int bits)
+{
+    unsigned int the_mask = (((unsigned int)1) << position);
+    return (the_mask &= bits) >> position;
+}
 
 void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesConstPtr& msg)
 {
@@ -432,7 +439,8 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
             }
             else
                 continue;
-            objsPtr->array.push_back(obj);
+            if(_GET_VALID_VALUE(0, m_recvMsgBit))
+                objsPtr->array.push_back(obj);
         }
         //SDK_LOG(SDK_INFO, "camera msg [0] size = %d,[1] = %d,[2] = %d",msg->reses[0].results.size(), msg->reses[1].results.size(), msg->reses[2].results.size());
         for (int i = 0; i < 3; i++)
@@ -548,7 +556,8 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
                             //objMsg.type = 7;
                             //SDK_LOG(SDK_INFO, "camera 1,2 x = %f,y = %f", objMsg.x, objMsg.y);
                         }
-                        objsPtr->array.push_back(objMsg);
+                        if (_GET_VALID_VALUE(i+1, m_recvMsgBit))
+                            objsPtr->array.push_back(objMsg);
                     }
                 }
             }

TrackingRosEx.h

@@ -57,4 +57,6 @@ public:
     int m_frameNum = 0;
 
     float m_lidar_x_angle = 0.0f;//修改rot_y的参数，从配置里读取
+
+    int m_recvMsgBit = 0b1111;//处理消息的类型
 };