提交更新

TrackingRosEx.cpp

@@ -376,7 +376,7 @@ void TrackingRos::TrackingCallBackFunc(const jfx_common_msgs::det_tracking_array
     }
     //m_objsQueue.push(objsPtr);
 
-    m_pubCloud.publish(msg->cloud);
+    //m_pubCloud.publish(msg->cloud);
 }
 
 
@@ -621,7 +621,7 @@ void TrackingRos::ThreadTrackingProcess()
             //SDK_LOG(SDK_INFO, "run before size = %d, after size = %d,",objsPtr->array.size(), trackers.size());
             jfx_common_msgs::det_tracking_array sendObjs = {};
             jsk_recognition_msgs::BoundingBoxArray sendBoxes = {};
-            sendBoxes.header.frame_id = "Pandar64";
+            sendBoxes.header.frame_id = "/rslidar";
             for (auto& iter : trackers)
             {
                 jfx_common_msgs::det_tracking obj = {};
@@ -702,7 +702,7 @@ void TrackingRos::ThreadTrackingProcess()
                     {
                         obj.rot_y += _PI_ * 2;
                     }
-                    //float rot_y_angle = obj.rot_y;
+                    float rot_y_angle = obj.rot_y;
                     //obj.rot_y = to360(obj.rot_y, m_lidar_x_angle);
                     //SDK_LOG(SDK_INFO, "rot_y_angle = %f, rot_y = %f", rot_y_angle, obj.rot_y);
                     std::vector<float> predict;
@@ -722,9 +722,9 @@ void TrackingRos::ThreadTrackingProcess()
                     }
 
                     jsk_recognition_msgs::BoundingBox box = {};
-                    box.label = obj.obj_id;
+                    box.label = obj.type;
                     box.value = obj.obj_id;
-                    box.header.frame_id = "Pandar64";
+                    box.header.frame_id = "/rslidar";
                     box.dimensions.x = obj.l;
                     box.dimensions.y = obj.w;
                     box.dimensions.z = obj.h;
@@ -736,7 +736,7 @@ void TrackingRos::ThreadTrackingProcess()
                     box.pose.orientation.x = R_quat.x();
                     box.pose.orientation.y = R_quat.y();
                     box.pose.orientation.z = R_quat.z();
-                    box.pose.orientation.w = R_quat.w();
+                    box.pose.orientation.w = rot_y_angle;
                     sendBoxes.boxes.emplace_back(box);
                     sendObjs.array.emplace_back(obj);
                 }
@@ -744,7 +744,7 @@ void TrackingRos::ThreadTrackingProcess()
             //sendObjs.cloud = objsPtr->cloud;
             //SDK_LOG(SDK_INFO, "calculate objs size = %d", sendObjs.array.size());
 
-            m_pub.publish(sendObjs);
+            //m_pub.publish(sendObjs);
             m_pubBoundingBoxes.publish(sendBoxes);
 #ifdef _USING_NSIGHT_
             nvtxRangePop();