提交更新

BaseTracker/BaseTrack.h

@@ -22,7 +22,7 @@ public:
     virtual float GetNIS() const;
     virtual bool IsLost();
 
-    virtual float CalculateIou(const std::vector<float>& data) = 0;
+    virtual double CalculateIou(const std::vector<float>& data) = 0;
 
     int coast_cycles_ = 0, hit_streak_ = 0;
 

BaseTracker/Track3D.cpp

@@ -59,8 +59,13 @@ Track3D::Track3D():BaseTrack(10, 7)
     kf_ = kf;
 }
 
-float Track3D::CalculateIou(const std::vector<float>& data)
+double Track3D::CalculateIou(const std::vector<float>& data)
 {
+    std::vector<float> states;
+    GetStateData(states);
 
-    return 0.0f;
+    std::vector<float> truth_poses{ states[0], states[1], states[2].0, 0, 0, states[6], states[3], states[4], states[5] };
+    std::vector<float> landmark_poses{ data[0], data[1], data[2].0, 0, 0, data[6], data[3], data[4], data[5] };
+    double iou_3d = CuboidIoU(truth_poses, landmark_poses);
+    return iou_3d;
 }

BaseTracker/Track3D.h

@@ -14,7 +14,7 @@ public:
     Track3D();
     ~Track3D() {}
 
-    virtual float CalculateIou(const std::vector<float>& data);
+    virtual double CalculateIou(const std::vector<float>& data);
 
 
     trackOjbPtr m_obj = nullptr;