设置检测输出顺序为：左->右，下->上

vision_detect/vision_detect/VisionDetect/node/detect_node.py

@@ -171,6 +171,11 @@ class DetectNode(InitBase):
         class_ids = result.boxes.cls.cpu().numpy()
         labels = result.names
 
+        x_centers, y_centers = boxes[:, 0], boxes[:, 1]
+        sorted_index = np.lexsort((-y_centers, x_centers))
+        masks = masks[sorted_index]
+        boxes = boxes[sorted_index]
+
         time3 = time.time()
 
         self.get_logger().info(f"Detect object num: {len(masks)}")
@@ -202,7 +207,7 @@ class DetectNode(InitBase):
                 self.get_logger().warning("Object point cloud have too many noise")
                 continue
 
-            if rmat == np.eye(4):
+            if np.allclose(rmat, np.eye(4)):
                 continue
 
             self.get_logger().info(f"grab_width: {grab_width}")