update

ros2/Track3DEx.cpp

@@ -98,7 +98,7 @@ double Track3DEx::CalculateIou(const std::vector<float>& data)
     int obj_cameraId = m_obj->cameraId;
     int obj_trackingId = m_obj->trackingId;
 
-    if(input_dataSource == obj_dataSource && obj_dataSource > 1 && obj_cameraId > 0 && obj_trackingId > 0)
+    if(obj_cameraId > 0 && obj_trackingId > 0)
     {
         if(obj_cameraId == input_cameraId && input_trackingId == obj_trackingId)
         {

ros2/TrackingRos2.cpp

@@ -195,10 +195,13 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
       obj.kinematics.twist_with_covariance =
           input_obj.object.kinematics.twist_with_covariance;
       obj.shape = input_obj.object.shape;
-
+      int camera_id = 0;
+      int tracking_id = 0;
       if(addId.find(iter.first) == addId.end())
       {
         obj.object_id = iter.second->m_obj->obj->object_id;
+        camera_id = iter.second->m_obj->cameraId;
+        tracking_id = iter.second->m_obj->tracking_id;
       }
       else
       {
@@ -236,8 +239,8 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
       strObj.frame = timestamp;
       strObj.type = input_obj.object.classification[0].label;
       strObj.dataSource = input_obj.data_source;
-      strObj.cameraId = input_obj.camera_id;
-      strObj.trackingId = input_obj.tracking_id;
+      strObj.cameraId = input_obj.camera_id == 0 ? camera_id: input_obj.camera_id;
+      strObj.trackingId = input_obj.tracking_id == 0 ? tracking_id: input_obj.tracking_id;
       strObj.obj = std::make_shared<autoware_auto_perception_msgs::msg::TrackedObject>(obj);
       iter.second->m_obj = std::make_shared<TrackStructObj>(strObj);  //不仅状态变量还有类型时间戳的m_obj数据更新（Tracker3D.h的智能指针）
     } else          //未匹配但跟踪链未被删除