提交修改

TrackingRosEx.cpp

@@ -182,7 +182,7 @@ void get_camera_right_tolidar_loc(float u, float v, float& x, float& y)
     auto srx = (-relatx) * cos(2 * M_PI / 3) + (-relaty) * sin(2 * M_PI / 3);
     auto sry = (-relaty) * cos(2 * M_PI / 3) - (-relatx) * sin(2 * M_PI / 3);
     srx = srx - 5;
-    sry = sry - 1;
+    sry = sry - 2;
     x = srx;
     y = sry;
     //SDK_LOG(SDK_INFO, "get_camera_right_tolidar_loc end x= %f,y = %f", x, y);
@@ -278,6 +278,9 @@ void TrackingRos::Init(ros::NodeHandle& nh)
 
     nh.param<int32_t>("detect_recv_msg_only", m_recvMsgBit, 0b1111);
     SDK_LOG(SDK_INFO, "detect_recv_msg_only = %d", m_recvMsgBit);
+    nh.param<int32_t>("detct_camera_car_size", m_detectCameraCarSize, 150);
+    SDK_LOG(SDK_INFO, "detct_camera_car_size = %d", m_detectCameraCarSize);
+    
 
     YAML::Node config = YAML::LoadFile(file.c_str());
     auto cfg = config["TRACKING"];
@@ -457,7 +460,7 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
                     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 MAXAREA = m_detectCameraCarSize * m_detectCameraCarSize;
                     float prob = camera_msg.prob;
                     int num_class = camera_msg.num_class;
                     float bottom_center_x = (float(x1) + float(x2)) / 2;

TrackingRosEx.h

@@ -59,4 +59,5 @@ public:
     float m_lidar_x_angle = 0.0f;//修改rot_y的参数，从配置里读取
 
     int m_recvMsgBit = 0b1111;//处理消息的类型
+    int m_detectCameraCarSize = 150;//处理相机汽车边长的最小限制
 };