提交更新

BaseTracker/BaseTracker.h

@@ -260,7 +260,7 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
         {
             std::vector<float> out;
             int ob_type = 0;
-            T::MeasureData(detections[i], out, ob_type);
+            T::MeasureIouData(detections[i], out, ob_type);
             for (int j = 0; j < out.size(); j++)
             {
                 detect_ptr.get()[i * measure_size + j] = out[j];
@@ -274,11 +274,10 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
                 tracker_ptr.get()[i * tra_size + j] = tracker_states[i][j];
             }
         }
-        std::string dete_str = GetMatrixStr(detect_ptr.get(), measure_size, detections.size());
-        //std::string track_str = GetMatrixStr(tracker_ptr.get(), tra_size, tracker_states.size());
-        std::string track_str = GetMatrixStr(tracker_states, tracker_states.size(), tra_size);
-        SDK_LOG(SDK_INFO, "detections = [%s]",dete_str.c_str());
-        SDK_LOG(SDK_INFO, "tracker_states = [%s]", track_str.c_str());
+        //std::string dete_str = GetMatrixStr(detect_ptr.get(), measure_size, detections.size());
+        //std::string track_str = GetMatrixStr(tracker_states, tracker_states.size(), tra_size);
+        //SDK_LOG(SDK_INFO, "detections = [%s]",dete_str.c_str());
+        //SDK_LOG(SDK_INFO, "tracker_states = [%s]", track_str.c_str());
 #ifdef _KF_IOU_CUDA_
         bev_overlap(detections.size(), detect_ptr.get(), tracker_states.size(), tracker_ptr.get(), iou_ptr.get());
 #endif
@@ -298,9 +297,9 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
     }
 
     // Find association
-    std::string str = GetMatrixStr(iou_matrix, detections.size(), tracks.size());
-    SDK_LOG(SDK_INFO, "iou_matrix = [%s]",str.c_str());
-    HungarianMatching(iou_matrix, detections.size(), tracks.size(), association);
+    //std::string str = GetMatrixStr(iou_matrix, detections.size(), tracks.size());
+    //SDK_LOG(SDK_INFO, "iou_matrix = [%s]",str.c_str());
+    //HungarianMatching(iou_matrix, detections.size(), tracks.size(), association);
 
     for (size_t i = 0; i < detections.size(); i++)
     {

BaseTracker/Track3D.cpp

@@ -376,8 +376,20 @@ int Track3D::GetIouData(std::vector<float>& data, int obj_type)
     return 0;
 }
 
-void Track3D::MeasureData(const std::vector<float>& input, std::vector<float>& out, int& obj_type)
+void Track3D::MeasureIouData(const std::vector<float>& input, std::vector<float>& out, int& obj_type)
 {
-
+    if (input.size() != 8)
+    {
+        SDK_LOG(SDK_INFO, "input is not 8");
+        return;
+    }
+    obj_type = input[0];
+    out.push_back(input[1]);
+    out.push_back(input[2]);
+    out.push_back(input[3]);
+    out.push_back(input[5]);
+    out.push_back(input[6]);
+    out.push_back(input[7]);
+    out.push_back(input[4]);
 }
 

BaseTracker/Track3D.h

@@ -46,7 +46,7 @@ public:
     virtual void SetValues(std::vector<float>& data);
 
     virtual int GetIouData(std::vector<float>& data, int obj_type);
-    static void MeasureData(const std::vector<float>& input, std::vector<float>& out, int& obj_type);
+    static void MeasureIouData(const std::vector<float>& input, std::vector<float>& out, int& obj_type);
 
     trackOjbPtr m_obj = nullptr;