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jfx_kalman_filter_src
Commit 334c8ff4 authored by oscar's avatar oscar
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parent 1537e091
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Showing with 13 additions and 9 deletions
TrackingRosEx.cpp
View file @ 334c8ff4
......@@ -469,7 +469,7 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
}
if (i == 1 || i == 2)
{
SDK_LOG(SDK_INFO, "camera obj i = %d,num_class = %d,bottom_center_x = %f,bottom_center_y = %f, x = %f,y = %f",i, num_class, bottom_center_x, bottom_center_y, x, y);
//SDK_LOG(SDK_INFO, "camera obj i = %d,num_class = %d,bottom_center_x = %f,bottom_center_y = %f, x = %f,y = %f",i, num_class, bottom_center_x, bottom_center_y, x, y);
//if (x < -15)
// continue;
}
......@@ -528,7 +528,6 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
else
continue;
objMsg.type = 1;
objMsg.x = objMsg.x + (objMsg.l / 2);
int duplicate = 0;
if (i == 0)
......@@ -546,7 +545,8 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
{
if (i == 1 || i == 2)
{
SDK_LOG(SDK_INFO, "camera 1,2 x = %f,y = %f", objMsg.x, objMsg.y);
objMsg.type = 7;
//SDK_LOG(SDK_INFO, "camera 1,2 x = %f,y = %f", objMsg.x, objMsg.y);
}
objsPtr->array.push_back(objMsg);
}
......@@ -555,7 +555,7 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
}
}
SDK_LOG(SDK_INFO, "m_objsQueue push size = %d", objsPtr->array.size());
//SDK_LOG(SDK_INFO, "m_objsQueue push size = %d", objsPtr->array.size());
m_objsQueue.push(objsPtr);
//if(cloudPtr)
// m_pubCloud.publish(cloudPtr->cloud);
......@@ -600,7 +600,7 @@ void TrackingRos::ThreadTrackingProcess()
nvtxRangePush("ThreadTrackingProcess");
#endif
m_frameNum++;
SDK_LOG(SDK_INFO, "get objs size = %d,m_frameNum = %d",objsPtr->array.size(), m_frameNum);
//SDK_LOG(SDK_INFO, "get objs size = %d,m_frameNum = %d",objsPtr->array.size(), m_frameNum);
std::vector< std::vector<float> > input;
for (int i = 0; i < objsPtr->array.size(); i++)
{
......@@ -615,10 +615,10 @@ void TrackingRos::ThreadTrackingProcess()
data.push_back(obj.w);
data.push_back(obj.h);
input.emplace_back(data);
//if (obj.x < 0)
//{
// SDK_LOG(SDK_INFO, "input========================= x = %f,y = %f", obj.x, obj.y);
//}
if (obj.type == 7)
{
SDK_LOG(SDK_INFO, "input========================m_frameNun = %d,[%f,%f,%f,%f,%f,%f,%f]", m_frameNum, obj.x, obj.y,obj.z,obj.l,obj.w,obj.h,obj.rot_y);
}
}
std::vector<uint64_t> detectionsId;
std::map<uint64_t, int> updateId;
......@@ -632,6 +632,10 @@ void TrackingRos::ThreadTrackingProcess()
#ifdef _USING_NSIGHT_
nvtxRangePop();
#endif
if (lostId.size() > 0)
{
}
uint64_t rTime = GetCurTime() - begin;
//SDK_LOG(SDK_INFO, "m_tracker.Run time = %llu", rTime);
std::map<uint64_t, std::shared_ptr<Track3D> >& trackers = m_tracker.GetStates();
......
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