fix upstaris problem

primary track一直都有，只是有时候会错误

include/cloud_reprojection_ros_node.hpp

@@ -70,6 +70,8 @@ private:
     std::string wiwc_topic_;
     std::string camera_image_topic_;
     bool camera_image_compressed_ = false;
+    bool always_send_sync_compressed_ = false;
+    bool always_send_sync_cloud_slam_ = false;
     std::string sync_topic_prefix_;
     std::string combined_compressed_topic_;
     int combined_jpeg_quality_;

include/target_observation_processing.hpp

@@ -44,12 +44,26 @@ struct TargetObservationConfig {
     int reid_feature_dim = 512;
     int reid_max_batch_size = 8;
     int max_concurrent_tracks = 16;
+    // Edge margin (in pixels) that is_good_reid_crop requires between the
+    // bbox and every image border. Set to 0 to allow crops touching the edge
+    // (common when the person stands close to the camera and the head gets
+    // cut off). Legacy value was 3.
+    int reid_crop_edge_margin_px = 0;
     // 3D position gate for ReID rebind. dmax = base_m + per_frame_m *
     // frames_since_last_seen. soft mode (hard=false) logs via debug counters
     // but still allows the similarity match; hard mode rejects the pair.
     float reid_3d_gate_base_m = 1.5f;
     float reid_3d_gate_per_frame_m = 0.1f;
     bool reid_3d_gate_hard = false;
+    // 3D-proximity fallback: when a row lacks a ReID feature (e.g. bbox was
+    // too close to the edge for is_good_reid_crop to pass) but has a fresh
+    // 3D estimate, rebind it to the follow target's stable_id if it lies
+    // within a strict (tighter than reid_3d_gate) distance of the target's
+    // last known world pos. Guards against ID inflation during close-range
+    // partial views that block ReID extraction.
+    bool reid_3d_fallback_enabled = true;
+    float reid_3d_fallback_base_m = 0.75f;
+    float reid_3d_fallback_per_frame_m = 0.05f;
     bool debug = false;
 };
 
@@ -83,6 +97,7 @@ struct TargetObservationDebugInfo {
     int lost_frames = 0;
     int reid_3d_gate_rejections = 0;     // hard-mode rejections this frame
     int reid_3d_gate_soft_warnings = 0;  // soft-mode over-threshold this frame
+    int reid_3d_fallback_rebinds = 0;    // follow-target rebinds by 3D fallback
     bool found_existing_target = false;
     bool target_selected = false;
     bool selected_from_center_bootstrap = false;
@@ -154,6 +169,7 @@ private:
         bool has_last_bbox = false;
         int64_t last_seen_frame = -1;
         bool just_rebound_by_reid = false;
+        bool just_rebound_by_3d_fallback = false;
         float last_rebind_similarity = -1.0f;
         // Per-entry 3D state; refreshed whenever compute_entry_3d succeeds.
         float last_depth = -1.0f;