提交更新

TrackingRosEx.cpp

@@ -289,6 +289,9 @@ void TrackingRos::Init(ros::NodeHandle& nh)
     SDK_LOG(SDK_INFO, "camera_cloud_merge_type = %d", m_camera_cloud_merge_type);
     nh.param<int32_t>("camera_debug_type", m_camera_debug_type, 0);
     SDK_LOG(SDK_INFO, "camera_debug_type = %d", m_camera_debug_type);
+    nh.param<int32_t>("right_left_camera_len", m_right_left_camera_len, 15);
+    SDK_LOG(SDK_INFO, "right_left_camera_len = %d", m_right_left_camera_len);
+    
 
     YAML::Node config = YAML::LoadFile(file.c_str());
     auto cfg = config["TRACKING"];
@@ -499,7 +502,7 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
                     if (i == 1 || i == 2)
                     {
                         //SDK_LOG(SDK_INFO, "camera obj i = %d,num_class = %d,bottom_center_x = %f,bottom_center_y = %f, x = %f,y = %f",i, num_class, bottom_center_x, bottom_center_y, x, y);
-                        if (x < -15 || abs(y) > 5)
+                        if (x < -m_right_left_camera_len || abs(y) > 5)
                             continue;
                     }
                     jfx_common_msgs::det_tracking objMsg = {};

TrackingRosEx.h

@@ -65,4 +65,5 @@ public:
     int m_camera_one_center_type = 0;//计算中心点坐标的配置，0是原来的配置，1，使用比例获取x值，2是比例取值并且用中心点坐标
     int m_camera_cloud_merge_type = 0;//0是使用距离判断，1是使用iou判断
     int m_camera_debug_type = 0;//调试相机类型是否修改为7，0是正常，1是调试为7
+    int m_right_left_camera_len = 15;//左右相机的显示距离米数
 };