add multi-target support (TargetObservation + rviz publish);

现在可以发布包含多个目标的消息了，而且自带多目标管理系统，可以支持发布多目标的info，debug和后续推理都可以
2026-04-19 16:48:54 +08:00
parent a1fddc9638
commit 5b177c90f4
11 changed files with 910 additions and 461 deletions
@@ -3,10 +3,11 @@ nav_msgs/Odometry odometry
 bool valid
 int32 track_id
 int32 detection_index
+bool is_primary_target
 float32 confidence
 float32 depth
 float32 depth_confidence
 float32[4] bbox_xyxy
 float32[51] keypoints_xyc
-geometry_msgs/Point target_pos_cam
-geometry_msgs/Point target_pos_world
+geometry_msgs/Point detection_pos_cam
+geometry_msgs/Point detection_pos_world