提交对iou算法的顺序的调整。

BaseTracker/BaseTrack.h

@@ -26,6 +26,9 @@ public:
     virtual bool IsLost();
 
     virtual int GetMeasureData(std::vector<float>& data);
+    
+    virtual int GetIouDataOrder(std::vector<int>& order) = 0;
+    virtual int GetKFDataOrder(std::vector<int>& order) = 0;
 
     virtual double CalculateIou(const std::vector<float>& data) = 0;
 

BaseTracker/BaseTracker.h

@@ -208,6 +208,7 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
     else
     {
         std::vector<std::vector<float> > tracker_states;
+        std::vector<int> iouOrder;
         for (auto& iter : tracks)
         {
             std::vector<float> measure;
@@ -219,6 +220,10 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
             {
                 SDK_LOG(SDK_INFO, "GetMeasureData failed");
             }
+            if (iouOrder.empty())
+            {
+                iter.second->GetIouDataOrder(iouOrder);
+            }
         }
         int measure_size = detections.size() > 0 ? detections[0].size() : 0;
         int tra_size = tracker_states.size() > 0 ? tracker_states[0].size() : 0;
@@ -234,14 +239,14 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
         {
             for (int j = 0; j < measure_size; j++)
             {
-                detect_ptr.get()[i * measure_size + j] = detections[i][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][j];
+                tracker_ptr.get()[i * tra_size + j] = tracker_states[i][iouOrder[j]];
             }
         }
         //std::string dete_str = GetMatrixStr(detect_ptr.get(), measure_size, detections.size());

BaseTracker/Track3D.cpp

@@ -170,21 +170,48 @@ double Track3D::CalculateIou(const std::vector<float>& data)
 }
 
 
-int Track3D::GetMeasureData(std::vector<float>& data)
+//int Track3D::GetMeasureData(std::vector<float>& data)
+//{
+//    std::vector<float> measure;
+//    if (BaseTrack::GetMeasureData(measure) == 0)
+//    {
+//        //获取的数据是外面的传入的顺序：x,y,z,theta,l,w,h
+//        //需要转为：x,y,z,l,w,h,thetha
+//        data.push_back(measure[0]);
+//        data.push_back(measure[1]);
+//        data.push_back(measure[2]);
+//        data.push_back(measure[4]);
+//        data.push_back(measure[5]);
+//        data.push_back(measure[6]);
+//        data.push_back(measure[3]);
+//        return 0;
+//    }
+//    return -1;
+//}
+
+int Track3D::GetIouDataOrder(std::vector<int>& order)
 {
-    std::vector<float> measure;
-    if (BaseTrack::GetMeasureData(measure) == 0)
-    {
-        //获取的数据是外面的传入的顺序：x,y,z,theta,l,w,h
-        //需要转为：x,y,z,l,w,h,thetha
-        data.push_back(measure[0]);
-        data.push_back(measure[1]);
-        data.push_back(measure[2]);
-        data.push_back(measure[4]);
-        data.push_back(measure[5]);
-        data.push_back(measure[6]);
-        data.push_back(measure[3]);
-        return 0;
-    }
-    return -1;
+    //获取的数据是外面的传入的顺序：x,y,z,theta,l,w,h
+    //计算iou需要转为：x,y,z,l,w,h,thetha
+    order.push_back(0);
+    order.push_back(1);
+    order.push_back(2);
+    order.push_back(4);
+    order.push_back(5);
+    order.push_back(6);
+    order.push_back(3);
+    return 0;
+}
+int Track3D::GetKFDataOrder(std::vector<int>& order)
+{
+    //获取的数据是外面的传入的顺序：x,y,z,theta,l,w,h
+    //计算kf需要转为没有变化就返回-1
+    order.push_back(0);
+    order.push_back(1);
+    order.push_back(2);
+    order.push_back(3);
+    order.push_back(4);
+    order.push_back(5);
+    order.push_back(6);
+    return 0;
 }

BaseTracker/Track3D.h

@@ -21,7 +21,8 @@ public:
 
     virtual double CalculateIou(const std::vector<float>& data);
 
-    virtual int GetMeasureData(std::vector<float>& data);
+    virtual int GetIouDataOrder(std::vector<int>& order);
+    virtual int GetKFDataOrder(std::vector<int>& order);
 
     trackOjbPtr m_obj = nullptr;
 };