提交更新

TrackingRosEx.cpp

@@ -413,7 +413,7 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
     objTrackListPtr objsPtr = std::make_shared<jfx_common_msgs::det_tracking_array>();
     if (cloudPtr)
     {
-        //objsPtr->array = cloudPtr->array;
+        objsPtr->cloud = cloudPtr->cloud;
         for (auto& obj : cloudPtr->array)
         {
             if (obj.x <= 70)
@@ -538,8 +538,8 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
     }
     //SDK_LOG(SDK_INFO, "m_objsQueue push size = %d", objsPtr->array.size());
     m_objsQueue.push(objsPtr);
-    if(cloudPtr)
-        m_pubCloud.publish(cloudPtr->cloud);
+    //if(cloudPtr)
+    //    m_pubCloud.publish(cloudPtr->cloud);
 
 }
 objTrackListPtr TrackingRos::GetNearestCloudMsg(unsigned long long timestamp)
@@ -758,6 +758,7 @@ void TrackingRos::ThreadTrackingProcess()
 
             //m_pub.publish(sendObjs);
             m_pubBoundingBoxes.publish(sendBoxes);
+            m_pubCloud.publish(objsPtr->cloud);
 #ifdef _USING_NSIGHT_
             nvtxRangePop();
 #endif