提交更新

ros2/TrackingRos2.cpp

@@ -86,7 +86,7 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr)
         geometry_msgs::msg::Quaternion orient = objsPtr->feature_objects[i].object.kinematics.pose_with_covariance.pose.orientation;
         geometry_msgs::msg::Vector3 dim = objsPtr->feature_objects[i].object.shape.dimensions;
         float prob = objsPtr->feature_objects[i].object.existence_probability;
-        int label = objsPtr->feature_objects[i].object.classification.label;
+        int label = objsPtr->feature_objects[i].object.classification[0].label;
         int dataSource = objsPtr->feature_objects[i].data_source;
         std::vector<float> data;
         data.push_back(label);
@@ -192,7 +192,7 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr)
             }
             TrackStructObj strObj = {};
             strObj.frame = timestamp;
-            strObj.type = input_obj.object.classification.label;
+            strObj.type = input_obj.object.classification[0].label;
             strObj.obj = std::make_shared<autoware_auto_perception_msgs::msg::TrackedObject>(obj)
             iter.second->m_obj = std::make_shared<TrackStructObj>(strObj);  //不仅状态变量还有类型时间戳的m_obj数据更新（Tracker3D.h的智能指针）
         }