improve[FoundationPose]: Change default value of min_depth & max_depth

Signed-off-by: zz990099 <771647586@qq.com>

Author: zz990099

detection_6d_foundationpose/src/foundationpose.cpp

@@ -33,7 +33,7 @@ class FoundationPose : public Base6DofDetectionModel {
                  const int                                           max_input_image_W = 1920,
                  const int                                           crop_window_H     = 160,
                  const int                                           crop_window_W     = 160,
-                 const float                                         min_depth         = 0.1);
+                 const float                                         min_depth         = 0.001);
 
   bool Register(const cv::Mat     &rgb,
                 const cv::Mat     &depth,
@@ -295,7 +295,7 @@ bool FoundationPose::UploadDataToDevice(
   convert_depth_to_xyz_map(static_cast<float *>(depth_on_device), input_image_height,
                            input_image_width, static_cast<float *>(xyz_map_on_device),
                            intrinsic_(0, 0), intrinsic_(1, 1), intrinsic_(0, 2), intrinsic_(1, 2),
-                           0.1);
+                           0.001);
 
   // 输出device端指针，并注册析构过程
   auto func_release_cuda_buffer = [](void *ptr) {

detection_6d_foundationpose/src/foundationpose_render.hpp

@@ -23,7 +23,7 @@ class FoundationPoseRenderer {
                          const int                       input_poses_num,
                          const int                       crop_window_H = 160,
                          const int                       crop_window_W = 160,
-                         const float                     min_depth     = 0.1,
+                         const float                     min_depth     = 0.001,
                          const float                     max_depth     = 4.0);
 
   bool RenderAndTransform(const std::vector<Eigen::Matrix4f> &_poses,