3 在原图上检测时不使用预测深度处理实例目标

src/camera_bev_infer/configs/CameraBevParam.yaml

@@ -30,7 +30,7 @@ camera2lidar_extrinsic1:  [-0.0052204, -0.999893, 0.0136667, 0.0384177,
                           -0.00280128, 0.0136814, 0.999902, 0.0599195,
                           0,          0,          0,          1 ]
 
-original_image_detect: false
+original_image_detect: true
 
 src_img_width: 1920
 src_img_height: 1080

src/camera_bev_infer/src/vision_transform/vision_3d.cpp

@@ -1277,7 +1277,7 @@ int Visione_3D::Process_objects(const cv::Mat& image, const cv::Mat& depth, Clou
         auto & obj = objs[mm];
         if( 0 == obj.bDetectType ){
             int res = Process_Instance_Objects(obj, point_index_in_camera, pcl_cloud, vGrid);
-            if(res == -1){ // valid points太少，使用深度估计
+            if(res == -1  && !camera_param_ptr_->original_image_detect){ // valid points太少， 且不是在原始图像检测 使用深度估计
                 // std::cout<<"using depth " << obj.name << "," <<obj.fConfidence<< std::endl;
                 if(!depth.empty()){
                     Process_Instance_Objects(obj, depth, pTable, vGrid);