提交修改iou

BaseTracker/Track3D.cpp

@@ -85,6 +85,24 @@ float calcIOU(cv::RotatedRect rect1, cv::RotatedRect rect2) {
 
 }
 
+double calcIntersectionArea(cv::RotatedRect rect1, cv::RotatedRect rect2)
+{
+    std::vector<cv::Point2f> vertices;
+    int intersectionType = cv::rotatedRectangleIntersection(rect1, rect2, vertices);
+    if (vertices.size() == 0)
+        return 0.0;
+    else
+    {
+        std::vector<cv::Point2f> order_pts;
+        // 找到交集（交集的区域），对轮廓的各个点进行排序
+
+        cv::convexHull(cv::Mat(vertices), order_pts, true);
+        double area = cv::contourArea(order_pts);
+        //float inner = (float)(area / (areaRect1 + areaRect2 - area + 0.0001));
+        return area;
+    }
+}
+
 double Track3D::CalculateIou(const std::vector<float>& data)
 {
     std::vector<float> states;
@@ -100,22 +118,43 @@ double Track3D::CalculateIou(const std::vector<float>& data)
     cv::RotatedRect rect2 = cv::RotatedRect(cv::Point2f(data[0], data[1]), cv::Size2f(data[3], data[4]), data[6]);
 
     uint64_t begin = GetCurTime();
-    double iou_2d = calcIOU(rect1,rect2);
-    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];
-
-        double land_minz = data[2] - data[5];
-        double land_maxz = data[2] + data[5];
+    double iou_3d = 0.0f;
+    //double iou_2d = calcIOU(rect1,rect2);
+    //if (iou_2d > 0) {
+    //    //SDK_LOG(SDK_INFO, " iou_2d = %f", iou_2d);
+    //    double tru_minz = states[2] - states[5]/2;
+    //    double tru_maxz = states[2] + states[5]/2;
+
+    //    double land_minz = data[2] - data[5]/2;
+    //    double land_maxz = data[2] + data[5]/2;
+    //    if (land_maxz <= tru_maxz && land_maxz >= tru_minz) {
+    //        double height_iou = (land_maxz - tru_minz) / (tru_maxz - land_minz);
+    //        iou_3d = iou_2d * height_iou;
+    //    }
+    //    else if (tru_maxz < land_maxz && tru_maxz > land_minz) {
+    //        double height_iou = (tru_maxz - land_minz) / (land_maxz - tru_minz);
+    //        iou_3d = iou_2d * height_iou;
+    //    }
+    //}
+    double area = calcIntersectionArea(rect1,rect2);
+    if (area > 0)
+    {
+        double interHeight = 0.0f;
+        double tru_minz = states[2] - states[5] / 2;
+        double tru_maxz = states[2] + states[5] / 2;
+
+        double land_minz = data[2] - data[5] / 2;
+        double land_maxz = data[2] + data[5] / 2;
         if (land_maxz <= tru_maxz && land_maxz >= tru_minz) {
-            double height_iou = (land_maxz - tru_minz) / (tru_maxz - land_minz);
-            iou_3d = iou_2d * height_iou;
+            interHeight = land_maxz - tru_minz;
         }
         else if (tru_maxz < land_maxz && tru_maxz > land_minz) {
-            double height_iou = (tru_maxz - land_minz) / (land_maxz - tru_minz);
-            iou_3d = iou_2d * height_iou;
+            interHeight = tru_maxz - land_minz;
+        }
+        if (interHeight > 0)
+        {
+            double inter3D = area * interHeight;
+            iou_3d = inter3D / (states[3] * states[4] * states[5] + data[3] * data[4] * data[5] - inter3D);
         }
     }
     //SDK_LOG(SDK_INFO, "CuboidIoU time = %llu", GetCurTime() - begin);