提交更新

TrackingRosEx.cpp

@@ -457,15 +457,21 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
                     }
                     else if (i == 1)
                     {
+                        bottom_center_x = x1;
+                        bottom_center_y = y1;
                         get_camera_right_tolidar_loc(bottom_center_x, bottom_center_y, x, y);
                     }
                     else if (i == 2)
                     {
+                        bottom_center_x = x2;
+                        bottom_center_y = y2;
                         get_camera_left_tolidar_loc(bottom_center_x, bottom_center_y, x, y);
                     }
                     if (i == 1 || i == 2)
                     {
-                        SDK_LOG(SDK_INFO, "camera obj i = %d, x = %f,y = %f",i, x, y);
+                        SDK_LOG(SDK_INFO, "camera obj i = %d,bottom_center_x = %f,bottom_center_y = %f, x = %f,y = %f",i, bottom_center_x, bottom_center_y, x, y);
+                        if (x < -15)
+                            continue;
                     }
                     jfx_common_msgs::det_tracking objMsg = {};
                     objMsg.frame = int(timestamp);