提交修改

TrackingRosEx.cpp

@@ -453,6 +453,8 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
                     int y1 = camera_msg.location[1];
                     int x2 = camera_msg.location[2];
                     int y2 = camera_msg.location[3];
+                    float area = float(abs(x1 - x2) * abs(y1 - y2));
+                    float MAXAREA = 200 * 200;
                     float prob = camera_msg.prob;
                     int num_class = camera_msg.num_class;
                     float bottom_center_x = (float(x1) + float(x2)) / 2;
@@ -465,12 +467,16 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
                     }
                     else if (i == 1)
                     {
+                        if (area < MAXAREA)
+                            continue;
                         bottom_center_x = x1;
                         bottom_center_y = y1;
                         get_camera_right_tolidar_loc(bottom_center_x, bottom_center_y, x, y);
                     }
                     else if (i == 2)
                     {
+                        if (area < MAXAREA)
+                            continue;
                         bottom_center_x = x2;
                         bottom_center_y = y2;
                         get_camera_left_tolidar_loc(bottom_center_x, bottom_center_y, x, y);