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BaseTracker/Track3D.cpp

@@ -90,7 +90,7 @@ double Track3D::CalculateIou(const std::vector<float>& data)
     std::vector<float> states;
     GetStateData(states);
 
-    SDK_LOG(SDK_INFO, "calculate size1 = %d, size2 = %d",states.size(),data.size());
+    //SDK_LOG(SDK_INFO, "calculate size1 = %d, size2 = %d",states.size(),data.size());
     //std::vector<float> truth_poses{ states[0], states[1], states[2],0, 0, states[6], states[3]/2, states[4]/2, states[5]/2 };
     //std::vector<float> landmark_poses{ data[0], data[1], data[2],0, 0, data[6], data[3]/2, data[4]/2, data[5]/2 };
 
@@ -100,9 +100,9 @@ double Track3D::CalculateIou(const std::vector<float>& data)
     uint64_t begin = GetCurTime();
     //double iou_3d = CuboidIoU(truth_poses, landmark_poses);
     double iou_2d = calcIOU(rect1,rect2);
-    SDK_LOG(SDK_INFO, " iou_2d = %f", iou_2d);
     double iou_3d = 0;
     if (iou_2d > 0) {
+        //SDK_LOG(SDK_INFO, " iou_2d = %f", iou_2d);
         double tru_minz = states[2] - states[5];
         double tru_maxz = states[2] + states[5];
 
@@ -117,7 +117,9 @@ double Track3D::CalculateIou(const std::vector<float>& data)
             iou_3d = iou_2d * height_iou;
         }
     }
-    SDK_LOG(SDK_INFO, "CuboidIoU time = %llu", GetCurTime() - begin);
+    //SDK_LOG(SDK_INFO, "CuboidIoU time = %llu", GetCurTime() - begin);
+    if (iou_3d > m_iou_threshold)
+        SDK_LOG(SDK_INFO, "iou_3d = %f", iou_3d);
     return iou_3d;
 }
 

TrackingRos.cpp

@@ -86,9 +86,9 @@ void TrackingRos::ThreadTrackingProcess()
             std::map<uint64_t, int> updateId;
             std::vector<uint64_t> lostId;
 
-            SDK_LOG(SDK_INFO, "run before");
+            uint64_t begin = GetCurTime();
             m_tracker.Run(input, detectionsId, updateId, lostId);
-            SDK_LOG(SDK_INFO, "run after");
+            SDK_LOG(SDK_INFO, "m_tracker.Run time = %llu", GetCurTime() - begin);
 
             std::map<uint64_t, std::shared_ptr<Track3D> >& trackers = m_tracker.GetStates();