修改high和low的逻辑

TrackingRosEx.cpp

@@ -318,7 +318,9 @@ void TrackingRos::Init(ros::NodeHandle& nh)
     SDK_LOG(SDK_INFO, "front_camera_len = %d", m_front_camera_len);
     nh.param<int32_t>("send_camera_image", m_send_camera_image, 0);
     SDK_LOG(SDK_INFO, "send_camera_image = %d", m_send_camera_image);
-    
+    nh.param<float>("high_low_score", m_high_low_score, 0.5);
+    SDK_LOG(SDK_INFO, "high_low_score = %f", m_high_low_score);
+
 
     YAML::Node config = YAML::LoadFile(file.c_str());
     auto cfg = config["TRACKING"];
@@ -438,6 +440,9 @@ void TrackingRos::TimeQueueProcess(std::vector< TimeQueueDataPtr>& outs)
             }
             else
                 continue;
+            obj.score += m_high_low_score;
+            if (obj.score > 1.0f)
+                obj.score = 1.0f;
             if (_GET_VALID_VALUE((unsigned char)0, m_recvMsgBit))
             {
                 //SDK_LOG(SDK_INFO, "send cloud obj  x = %f, y = %f",obj.x,obj.y);
@@ -756,7 +761,10 @@ void TrackingRos::ThreadTrackingProcess()
 #endif
             m_frameNum++;
             //SDK_LOG(SDK_INFO, "get objs size = %d,m_frameNum = %d",objsPtr->array.size(), m_frameNum);
-            std::vector< std::vector<float> > input;
+            std::vector< std::vector<float> > inputH;
+            std::vector< std::vector<float> > inputL;
+            std::vector<int> indexH;
+            std::vector<int> indexL;
             for (int i = 0; i < objsPtr->array.size(); i++)
             {
                 jfx_common_msgs::det_tracking& obj = objsPtr->array[i];
@@ -769,17 +777,28 @@ void TrackingRos::ThreadTrackingProcess()
                 data.push_back(obj.l);
                 data.push_back(obj.w);
                 data.push_back(obj.h);
-                input.emplace_back(data);
+                if (obj.score < m_high_low_score)
+                {
+                    inputL.emplace_back(data);
+                    indexL.emplace_back(i);
+                }
+                else
+                {
+                    inputH.emplace_back(data);
+                    indexH.emplace_back(i);
+                }
             }
-            std::vector<uint64_t> detectionsId;
-            std::map<uint64_t, int> updateId;
+            //std::vector<uint64_t> detectionsId;
+            std::map<uint64_t, int> updateHId;
+            std::map<uint64_t, int> updateLId;
             std::vector<uint64_t> lostId;
 
             uint64_t begin = GetCurTime();
 #ifdef _USING_NSIGHT_
             nvtxRangePush("m_tracker.Run");
 #endif
-            m_tracker.Run(input,7,10, detectionsId, updateId, lostId);
+            //m_tracker.Run(input,7,10, detectionsId, updateId, lostId);
+            m_tracker.Run(inputH,inputL, 7, 10, updateHId, updateLId, lostId);
 #ifdef _USING_NSIGHT_
             nvtxRangePop();
 #endif
@@ -814,9 +833,12 @@ void TrackingRos::ThreadTrackingProcess()
                 jfx_common_msgs::det_tracking input_obj = {};
                 int last_type = -1;
                 int is_need_send = 0;//是否需要发送
-                if (updateId.find(iter.first) != updateId.end())
+                if (updateHId.find(iter.first) != updateHId.end() || updateLId.find(iter.first) != updateLId.end())
                 {
-                    obj = objsPtr->array[updateId[iter.first]];
+                    if(updateHId.find(iter.first) != updateHId.end())
+                        obj = objsPtr->array[indexH[updateHId[iter.first]]];
+                    if(updateLId.find(iter.first) != updateLId.end())
+                        obj = objsPtr->array[indexL[updateLId[iter.first]]];
                     input_obj = obj;
                     obj.obj_id = iter.first;
                     std::vector<float> data;

TrackingRosEx.h

@@ -73,6 +73,7 @@ public:
     int m_right_left_camera_y_len = 7;//左右相机的过滤宽度米数
     int m_front_camera_len = 0;//-前相机过滤的距离米数,0是不过滤，70就是过滤70米，但不过滤行人和机动车
     int m_send_camera_image = 0;//是否发送相机图像，0是不发送，1是发送
+    float m_high_low_score = 0.5f;//high和low划分的置信度数值
 
     void TimeQueueProcess(std::vector< TimeQueueDataPtr>& outs);