std::vector<Box> getBoxes(const jsk_recognition_msgs::BoundingBoxArray::ConstPtr &msg_boxes) { std::vector<Box> result;

#pragma omp parallel for
// 遍历消息中的所有bounding box
for (int i = 0; i < msg_boxes->boxes.size(); ++i)
{
    const auto& bbox = msg_boxes->boxes[i];

    // 判断是否创建
    if (bbox.pose.position.x < POINT_RANGE[0] || bbox.pose.position.x > POINT_RANGE[3] )
        continue;
    if (bbox.pose.position.y < POINT_RANGE[1] || bbox.pose.position.y > POINT_RANGE[4] )
        continue;

    // 得到中心点
    float center[3] = {(float)bbox.pose.position.x, (float)bbox.pose.position.y, (float)bbox.pose.position.z};

    // 得到尺寸
    float wlh[3]    = {(float)bbox.dimensions.x, (float)bbox.dimensions.y, (float)bbox.dimensions.z};

    // 计算yaw
    Eigen::Quaternionf bboxQuaternion(bbox.pose.orientation.w, bbox.pose.orientation.x, bbox.pose.orientation.y, bbox.pose.orientation.z);
    Eigen::Matrix3f rotMat = bboxQuaternion.toRotationMatrix();
    float yaw_tem = atan2(rotMat(1, 0), rotMat(0, 0));

    // 创建实例
    Box box(center, wlh, yaw_tem);

    // 进行互斥锁保护，避免多个线程同时对result进行访问
    #pragma omp critical
    {
        // 将box入栈
        result.push_back(box);
    }
}
return result;

}