检测物体排序修正

vision_detect/vision_detect/VisionDetect/node/detect_node.py

@@ -175,6 +175,8 @@ class DetectNode(InitBase):
         sorted_index = np.lexsort((-y_centers, x_centers))
         masks = masks[sorted_index]
         boxes = boxes[sorted_index]
+        class_ids = class_ids[sorted_index]
+        labels = labels[sorted_index]
 
         time3 = time.time()
 

vision_detect/vision_detect/VisionDetect/utils/draw_tools.py

@@ -25,6 +25,12 @@ def draw_box(
     class_ids = segmentation_result.boxes.cls.cpu().numpy()
     labels = segmentation_result.names
 
+    x_centers, y_centers = boxes[:, 0], boxes[:, 1]
+    sorted_index = np.lexsort((-y_centers, x_centers))
+    boxes = boxes[sorted_index]
+    class_ids = class_ids[sorted_index]
+    labels = labels[sorted_index]
+
     for i, box in enumerate(boxes):
         x_center, y_center, width, height = box[:4]