提交前相机距离配置

TrackingRosEx.cpp

@@ -291,7 +291,8 @@ 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>("front_camera_len", m_front_camera_len, 0);
+    SDK_LOG(SDK_INFO, "front_camera_len = %d", m_front_camera_len);
 
     YAML::Node config = YAML::LoadFile(file.c_str());
     auto cfg = config["TRACKING"];
@@ -559,6 +560,14 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
                     }
                     else
                         continue;
+                    if (i == 0)
+                    {
+                        if (m_front_camera_len != 0)
+                        {
+                            if (x < m_front_camera_len && objMsg.type != 4 && objMsg.type != 5)
+                                continue;
+                        }
+                    }
                     if(i == 0 && m_camera_one_center_type != 2)
                         objMsg.x = objMsg.x + (objMsg.l / 2);
                     int duplicate = 0;

TrackingRosEx.h

@@ -66,4 +66,5 @@ 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_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
 };