提交配置更新

TrackingRosEx.cpp

@@ -305,6 +305,9 @@ void TrackingRos::Init(ros::NodeHandle& nh)
     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);
+    nh.param<int32_t>("right_left_camera_y_len", m_right_left_camera_y_len, 7;
+    SDK_LOG(SDK_INFO, "right_left_camera_y_len = %d", m_right_left_camera_y_len);
+    
     nh.param<int32_t>("front_camera_len", m_front_camera_len, 0);
     SDK_LOG(SDK_INFO, "front_camera_len = %d", m_front_camera_len);
     nh.param<int32_t>("send_camera_image", m_send_camera_image, 0);
@@ -542,7 +545,7 @@ 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 < -m_right_left_camera_len || abs(y) > 7)
+                        if (x < -m_right_left_camera_len || abs(y) > m_right_left_camera_y_len)
                             continue;
                     }
                     jfx_common_msgs::det_tracking objMsg = {};

TrackingRosEx.h

@@ -69,6 +69,7 @@ public:
     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
+    int m_right_left_camera_y_len = 7;//左右相机的过滤宽度米数
     int m_front_camera_len = 0;//-前相机过滤的距离米数,0是不过滤，70就是过滤70米，但不过滤行人和机动车
     int m_send_camera_image = 0;//是否发送相机图像，0是不发送，1是发送
 };