update

src/camera_bev_infer/src/vision_transform/vision_3d.cpp

@@ -5,7 +5,7 @@
  * @Date: 2023-09-03 03:13:41
  * @email: xin.wang@waytous.com
  * @LastEditors: yangxue xue.yang@waytous.com
- * @LastEditTime: 2025-03-28 10:58:33
+ * @LastEditTime: 2025-04-02 08:12:15
  */
 
 
@@ -552,7 +552,7 @@ int Visione_3D::Process_Instance_Objects(object_Seg_info& obj, const cv::Mat& di
     // std::cout<<" instance find table vision "<<double(clock()-start_)/CLOCKS_PER_SEC<<"s"<<std::endl;  //输出时间（单位：ｓ）
 
     // start_ = clock();
-    //目标bev矩形区域
+    // 目标bev矩形区域
     cv::Rect objRc = cv::Rect(objX1, objY1, MIN(objBin.cols, objX2 + 1) - objX1,  MIN(objBin.rows, objY2 + 1) - objY1);
     if(nValidNum > 5 && objRc.width > 0 && objRc.height > 0)
     {
@@ -776,6 +776,7 @@ int Visione_3D::Process_objects(const cv::Mat& image, Cloud::Ptr& pcl_cloud, std
     Eigen::Matrix4d c2l = m_lidar2camera.inverse();
     pcl::transformPointCloud(*pcl_cloud, *camera_cloud, c2l);
     // 投影到图像中, 保存全部投影index和 高度小于1.5m的index，用做落石处理
+    // pixel coord [y,x] -> 3d point index;  0  channel for all points, 1 channel for near-ground point
     cv::Mat point_index_in_camera = cv::Mat::zeros(image.size(), CV_32SC2);// cv::Vec2i ushort
     float tx = m_matrixQ.at<float>(0, 2); 
     float ty = m_matrixQ.at<float>(1, 2); 
@@ -932,7 +933,7 @@ int Visione_3D::Process_Instance_Objects(object_Seg_info& obj, const cv::Mat& in
             n = rc.y + j;
             auto indexs = indices.at<cv::Vec2i>(n,m);
             index = indexs[obj.name == "stone" ? 1 : 0];
-            //not in mask or dont have pcl-point
+            //not in mask or dont have pcl-point (only use in-mask points for obj points)
             if( 0 == obj.mask.at<uchar>(j,i)){
                 continue;
             }