Merge branch 'master' of http://devops.waytous.com:8090/yangxue/ros_camera_bev

src/camera_bev_infer/configs/weights/multi_yolov5m.yaml

@@ -66,8 +66,8 @@ units:
         outputNames: [tracked_instances]
         frame_rate: 10
         track_buffer: 30
-        track_thresh: 0.15
-        high_thresh: 0.2
+        track_thresh: 0.15  # threshold for high-confidence detections 
+        high_thresh: 0.2    # threshold for new track creation
         match_thresh: 0.6
         init_frames: 2
         out_lost_threshold: 0

src/camera_bev_infer/src/sensor_manager.cpp

@@ -5,7 +5,7 @@
  * @Date: 2023-09-03 02:18:07
  * @email: xin.wang@waytous.com
  * @LastEditors: yangxue xue.yang@waytous.com
- * @LastEditTime: 2025-04-18 01:48:25
+ * @LastEditTime: 2025-06-12 08:21:08
  */
 
 
@@ -56,7 +56,7 @@ sensorManager::sensorManager(ros::NodeHandle& nodehandle, ImageInferNodeParam& p
     // 初始化订阅、发布话题
     image_subscriber_ = nodehandle.subscribe<sensor_msgs::Image>(param.rgb_sub_topic_name, 1, boost::bind(&sensorManager::updateImage, this, _1));
     pointcloud_subscriber_ = nodehandle.subscribe<sensor_msgs::PointCloud2>(param.pointcloud_sub_topic_name, 1, boost::bind(&sensorManager::updatePointcloud, this, _1));
-    obj_publisher_ = nodehandle.advertise<waytous_perception_msgs::ObjectTrackArray>(param.detection_pub_topic_name, 1);
+    obj_publisher_ = nodehandle.advertise<waytous_perception_msgs::ObjectArray>(param.detection_pub_topic_name, 1);
 
     pub_thread_ = new boost::thread(boost::bind(&sensorManager::publishDetection, this));
 };
@@ -190,6 +190,7 @@ void sensorManager::publishDetection()
         waytous_perception_msgs::ObjectTrackArray obTrackFrame;
         obTrackFrame.header = frame_ptr->sensor_header;
         obTrackFrame.header.frame_id = "vehicle_link";
+        obFrame.header = obTrackFrame.header;
         // obTrackFrame.header.stamp = ros::Time(frame_ptr->timestamp_);
 
         int8_t obj_id = 0;
@@ -312,7 +313,7 @@ void sensorManager::publishDetection()
             obFrame.foreground_objects.emplace_back(ob);
             obTrackFrame.object_track.emplace_back(obTrack);
         }
-        obj_publisher_.publish(obTrackFrame); // obFrame or obTrackFrame
+        obj_publisher_.publish(obFrame); // obFrame or obTrackFrame
         std::cout<<" onRun :  "<<double(clock()-start_)/CLOCKS_PER_SEC<<"s.  "<< "Detected Objects: " 
             << obFrame.foreground_objects.size() <<std::endl;  //输出时间（单位：ｓ）