提交计算iou时加入type类型检查

BaseTracker/BaseTrack.cpp

@@ -103,7 +103,7 @@ bool BaseTrack::IsValid()
 {
     return m_update_count >= m_updateValidCount;
 }
-int BaseTrack::GetMeasureData(std::vector<float>& data)
+int BaseTrack::GetIouData(std::vector<float>& data, int obj_type)
 {
     if (kf_ == nullptr || m_num_obs > m_num_states)
         return -1;

BaseTracker/BaseTrack.h

@@ -30,7 +30,7 @@ public:
     virtual bool IsLost();//数据是否丢失，如果不更新就会丢失
     virtual bool IsValid();//数据是否有效
 
-    virtual int GetMeasureData(std::vector<float>& data);
+    virtual int GetIouData(std::vector<float>& data,int obj_type);
     
     virtual int GetIouDataOrder(std::vector<int>& order) = 0;
     virtual int GetKFDataOrder(std::vector<int>& order) = 0;

BaseTracker/BaseTracker.h

@@ -238,11 +238,12 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
     else
     {
         std::vector<std::vector<float> > tracker_states;
-        std::vector<int> iouOrder;
+        std::vector<int> tracker_type;
         for (auto& iter : tracks)
         {
             std::vector<float> measure;
-            if (iter.second->GetMeasureData(measure) == 0)
+            int obj_type = 0;
+            if (iter.second->GetIouData(measure,obj_type) == 0)
             {
                 tracker_states.emplace_back(measure);
             }
@@ -250,14 +251,11 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
             {
                 SDK_LOG(SDK_INFO, "GetMeasureData failed");
             }
-            if (iouOrder.empty())
-            {
-                iter.second->GetIouDataOrder(iouOrder);
-            }
+            tracker_type.push_back(obj_type);
         }
         int measure_size = _no;
         int tra_size = tracker_states.size() > 0 ? tracker_states[0].size() : 0;
-        if (measure_size == 0 || measure_size != tra_size)
+        if (tra_size == 0 || measure_size != tra_size)
             return;
         int detect_size = detections.size() * measure_size;
         int tracker_size = tracker_states.size() * tra_size;
@@ -276,17 +274,12 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
                 detect_ptr.get()[i * measure_size + j] = out[j];
             }
             det_type.push_back(ob_type);
-            //for (int j = 0; j < measure_size; j++)
-            //{
-
-            //    detect_ptr.get()[i * measure_size + j] = detections[i][iouOrder[j]];
-            //}
         }
         for (int i = 0; i < tracker_states.size(); i++)
         {
             for (int j = 0; j < tra_size; j++)
             {
-                tracker_ptr.get()[i * tra_size + j] = tracker_states[i][iouOrder[j]];
+                tracker_ptr.get()[i * tra_size + j] = tracker_states[i][j];
             }
         }
         //std::string dete_str = GetMatrixStr(detect_ptr.get(), measure_size, detections.size());
@@ -301,7 +294,14 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
             for (int j = 0; j < tracker_states.size(); j++)
             {
                 float* i_ptr = iou_ptr.get();
-                iou_matrix[i][j] = i_ptr[i * tracker_states.size() + j];
+                if (det_type[i] == tracker_type[j])
+                {
+                    iou_matrix[i][j] = i_ptr[i * tracker_states.size() + j];
+                }
+                else
+                {
+                    iou_matrix[i][j] = 0.0f;
+                }
             }
     }
 

BaseTracker/Track3D.cpp

@@ -355,6 +355,24 @@ void Track3D::SetValues(std::vector<float>& data)
         0, 0, 0, 0, 0, 0, 1;
     
 }
+int Track3D::GetIouData(std::vector<float>& data, int obj_type)
+{
+    if (m_obj == nullptr || kf_ == nullptr)
+    {
+        return -1;
+    }
+    data.clear();
+    data.push_back(kf_->x[0]);
+    data.push_back(kf_->x[1]);
+    data.push_back(kf_->x[2]);
+    data.push_back(kf_->x[4]);
+    data.push_back(kf_->x[5]);
+    data.push_back(kf_->x[6]);
+    data.push_back(kf_->x[3]);
+
+    obj_type = m_obj->type;
+    return 0;
+}
 
 void Track3D::MeasureData(const std::vector<float>& input, std::vector<float>& out, int& obj_type)
 {

BaseTracker/Track3D.h

@@ -45,6 +45,7 @@ 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);
 
     trackOjbPtr m_obj = nullptr;