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jfx_kalman_filter_src
Commit 0b8f8c9a authored by oscar's avatar oscar
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parent e534ecf4
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Showing with 6 additions and 6 deletions
TrackingRosEx.cpp
View file @ 0b8f8c9a
......@@ -470,7 +470,7 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
if (i == 1 || i == 2)
{
//SDK_LOG(SDK_INFO, "camera obj i = %d,num_class = %d,bottom_center_x = %f,bottom_center_y = %f, x = %f,y = %f",i, num_class, bottom_center_x, bottom_center_y, x, y);
if (x < -15)
if (x < -15 || abs(y) > 5)
continue;
}
jfx_common_msgs::det_tracking objMsg = {};
......@@ -751,11 +751,11 @@ void TrackingRos::ThreadTrackingProcess()
std::vector<float> predict;
if (iter.second->GetPredictData(predict) == 0)
{
SDK_LOG(SDK_INFO, "send obj m_frameNum = %d,id = %llu,%f,%f,%f,%f,%f,%f,%d,%f,%f,%f,%f,%f,%f,%d,%f,%f,%f,%f,%f,%f,%d,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%.10f,%.10f",
m_frameNum, iter.first, input_obj.rot_y, input_obj.rot_y * 180 / _PI_, predict[3], predict[3] * 180 / _PI_, rot_y_angle, rot_y_angle * 180 / _PI_,
input_obj.type, input_obj.x, input_obj.y, input_obj.z, input_obj.l, input_obj.w, input_obj.h,
last_type, predict[0], predict[1], predict[2], predict[4], predict[5], predict[6],
obj.type, obj.x, obj.y, obj.z, obj.l, obj.w, obj.h, obj.rot_y, obj.v_x, obj.v_y, obj.v_z, obj.Lat, obj.Long);
//SDK_LOG(SDK_INFO, "send obj m_frameNum = %d,id = %llu,%f,%f,%f,%f,%f,%f,%d,%f,%f,%f,%f,%f,%f,%d,%f,%f,%f,%f,%f,%f,%d,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%.10f,%.10f",
// m_frameNum, iter.first, input_obj.rot_y, input_obj.rot_y * 180 / _PI_, predict[3], predict[3] * 180 / _PI_, rot_y_angle, rot_y_angle * 180 / _PI_,
// input_obj.type, input_obj.x, input_obj.y, input_obj.z, input_obj.l, input_obj.w, input_obj.h,
// last_type, predict[0], predict[1], predict[2], predict[4], predict[5], predict[6],
// obj.type, obj.x, obj.y, obj.z, obj.l, obj.w, obj.h, obj.rot_y, obj.v_x, obj.v_y, obj.v_z, obj.Lat, obj.Long);
SDK_IDX_LOG(1, SDK_INFO, "%s,%d,%llu,%llu,%f,%f,%f,%f,%f,%f,%d,%f,%f,%f,%f,%f,%f,%d,%f,%f,%f,%f,%f,%f,%d,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%.10f,%.10f",
GetTimeStr(obj.frame).c_str(), m_frameNum, obj.frame, iter.first, input_obj.rot_y, input_obj.rot_y * 180 / _PI_, predict[3], predict[3] * 180 / _PI_, rot_y_angle, rot_y_angle * 180 / _PI_,
input_obj.type,input_obj.x, input_obj.y, input_obj.z, input_obj.l, input_obj.w, input_obj.h,
......
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