提交毫米波雷达由远到近的时候速度为0的问题

ros2/RosMsg.h

@@ -18,6 +18,7 @@ struct TrackStructObj
     int cameraId;
     int trackingId;
     uint64_t id;
+    int cameraId_real;
     std::shared_ptr<autoware_auto_perception_msgs::msg::TrackedObject>  obj;
 };
 

ros2/Track3DEx.cpp

@@ -302,7 +302,7 @@ void Track3DEx::GetSpeed(float& x, float& y)//获取速度值
 {
     if(m_obj == nullptr)
         return;
-    if(m_obj->dataSource < 10 && m_obj->cameraId < 10)
+    if(m_obj->dataSource < 10 && m_obj->cameraId_real < 10)
     {
         float totelX = 0,totelY = 0;
         for(int i = 0; i < m_speedXLists.size(); i++)

ros2/TrackingRos2.cpp

@@ -320,6 +320,7 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
         strObj.type = input_obj.object.classification[0].label;
         strObj.dataSource = input_obj.data_source;
         strObj.cameraId = input_obj.camera_id == 0 ? camera_id: input_obj.camera_id;
+        strObj.cameraId_real = input_obj.camera_id;
         strObj.trackingId = input_obj.tracking_id == 0 ? tracking_id: input_obj.tracking_id;
         strObj.obj = std::make_shared<autoware_auto_perception_msgs::msg::TrackedObject>(obj);
         strObj.id = iter.first;