add type3

TrackingRos.cpp

@@ -870,10 +870,16 @@ void TrackingRos::ThreadTrackingProcess()
                             t_marker.scale.y = 4;
                             t_marker.scale.z = 4;
                         }
+                        if(mark_type_text==3)
+                        {
+                            t_marker.scale.x = 4;
+                            t_marker.scale.y = 4;
+                            t_marker.scale.z = 4;
+                        }
                         t_marker.color.a = 1.0;
                         t_marker.color.r = 0;
-                        t_marker.color.g = 0;
-                        t_marker.color.b = 1.0;
+                        t_marker.color.g = 1.0;
+                        t_marker.color.b = 0;
                         t_marker.lifetime = ros::Duration(0.5);
                         char str[512] = {};
                         //sprintf(str, "id:{%llu},type:{%d},type_name:{%s},v:{%.2f}m/s,No:{%s}\ncolor_name:{%s},timestamp:{%llu}",
@@ -891,6 +897,11 @@ void TrackingRos::ThreadTrackingProcess()
                             t_marker.text = str;
                         }
                         if(mark_type_text==2)
+                        {
+                            sprintf(str,"%llu:%d",obj.obj_id,obj.type);
+                            t_marker.text = str;
+                        }
+                        if(mark_type_text==3)
                         {
                             sprintf(str,"%llu:%.2f",obj.obj_id,sqrt(obj.v_x* obj.v_x + obj.v_y * obj.v_y) * 10);
                             t_marker.text = str;

TrackingRos.h

@@ -67,5 +67,5 @@ public:
     std::string m_root_dir;//存储统一的根目录路径
     std::string m_nodeName;//点位信息，现在就是10-1，1-1等信息
     YAML::Node m_config;//配置的yaml文件
-    int mark_type_text = 0;//0-type,1-object_id,2-text...
+    int mark_type_text = 0;//0-type,1-object_id,2-object-type,3-text...
 };