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BaseTracker/Track3D.cpp

@@ -181,6 +181,17 @@ double calcIntersectionArea(cv::RotatedRect rect1, cv::RotatedRect rect2)
 
 double Track3D::CalculateIou(const std::vector<float>& data)
 {
+    if (data.size() != 8)
+    {
+        SDK_LOG(SDK_INFO, "CalculateIou data size != 8");
+        return 0.0f;
+    }
+    if (m_obj == nullptr)
+        return 0.0f;
+    int input_type = data[0];
+    int obj_type = m_obj->type;
+    if (input_type != obj_type)
+        return 0.0f;
     std::vector<float> states;
     GetStateData(states);
 
@@ -191,7 +202,7 @@ double Track3D::CalculateIou(const std::vector<float>& data)
 
 
     cv::RotatedRect rect1 = cv::RotatedRect(cv::Point2f(states[0], states[1]), cv::Size2f(states[4], states[5]), states[3]*180 / 3.1415926);
-    cv::RotatedRect rect2 = cv::RotatedRect(cv::Point2f(data[0], data[1]), cv::Size2f(data[4], data[5]), data[3]*180/3.1415926);
+    cv::RotatedRect rect2 = cv::RotatedRect(cv::Point2f(data[1], data[2]), cv::Size2f(data[5], data[6]), data[4]*180/3.1415926);
 
     uint64_t begin = GetCurTime();
     double iou_3d = 0.0f;