提交相机消息iou过滤

BaseTracker/Track3D.cpp

@@ -161,23 +161,23 @@ float calcIOU(cv::RotatedRect rect1, cv::RotatedRect rect2) {
 
 }
 
-double calcIntersectionArea(cv::RotatedRect rect1, cv::RotatedRect rect2)
-{
-    std::vector<cv::Point2f> vertices;
-    int intersectionType = cv::rotatedRectangleIntersection(rect1, rect2, vertices);
-    if (vertices.size() == 0)
-        return 0.0;
-    else
-    {
-        std::vector<cv::Point2f> order_pts;
-        // 找到交集（交集的区域），对轮廓的各个点进行排序
-
-        cv::convexHull(cv::Mat(vertices), order_pts, true);
-        double area = cv::contourArea(order_pts);
-        //float inner = (float)(area / (areaRect1 + areaRect2 - area + 0.0001));
-        return area;
-    }
-}
+//double calcIntersectionArea(cv::RotatedRect rect1, cv::RotatedRect rect2)
+//{
+//    std::vector<cv::Point2f> vertices;
+//    int intersectionType = cv::rotatedRectangleIntersection(rect1, rect2, vertices);
+//    if (vertices.size() == 0)
+//        return 0.0;
+//    else
+//    {
+//        std::vector<cv::Point2f> order_pts;
+//        // 找到交集（交集的区域），对轮廓的各个点进行排序
+//
+//        cv::convexHull(cv::Mat(vertices), order_pts, true);
+//        double area = cv::contourArea(order_pts);
+//        //float inner = (float)(area / (areaRect1 + areaRect2 - area + 0.0001));
+//        return area;
+//    }
+//}
 
 double Track3D::CalculateIou(const std::vector<float>& data)
 {
@@ -238,7 +238,7 @@ double Track3D::CalculateIou(const std::vector<float>& data)
         else if (tru_maxz < land_maxz && tru_maxz > land_minz) {
             interHeight = tru_maxz - land_minz;
         }
-        if (interHeight > 0)
+        if (1)//interHeight > 0)
         {
             //double inter3D = area * interHeight;
             //iou_3d = inter3D / (states[4] * states[5] * states[6] + data[5] * data[6] * data[7] - inter3D);

TrackingRosEx.cpp

@@ -281,6 +281,8 @@ void TrackingRos::Init(ros::NodeHandle& nh)
     SDK_LOG(SDK_INFO, "detect_recv_msg_only = %d", m_recvMsgBit);
     nh.param<int32_t>("detct_camera_car_size", m_detectCameraCarSize, 150);
     SDK_LOG(SDK_INFO, "detct_camera_car_size = %d", m_detectCameraCarSize);
+    nh.param<float>("lidar_camera_msg_iou", m_lidar_camera_msg_iou, 0.4);
+    SDK_LOG(SDK_INFO, "matrix_angle_r_value = %f", m_lidar_camera_msg_iou);
     
 
     YAML::Node config = YAML::LoadFile(file.c_str());
@@ -552,7 +554,15 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
                     {
                         for (auto& obj : cloudPtr->array)
                         {
-                            if (abs(obj.x - objMsg.x) < std::max(objMsg.l * 2, (double)3.0) && abs(obj.y - objMsg.y) < std::max(objMsg.w * 2.0, (double)3.0))
+                            //if (abs(obj.x - objMsg.x) < std::max(objMsg.l * 2.0, (double)3.0) && abs(obj.y - objMsg.y) < std::max(objMsg.w * 2.0, (double)3.0))
+                            //{
+                            //    duplicate = 1;
+                            //    break;
+                            //}
+                            cv::RotatedRect rect1 = cv::RotatedRect(cv::Point2f(objMsg.x, objMsg.y), cv::Size2f(objMsg.l, objMsg.w), objMsg.rot_y);
+                            cv::RotatedRect rect2 = cv::RotatedRect(cv::Point2f(obj.x, obj.y), cv::Size2f(obj.l, obj.w), obj.rot_y * 180 / 3.1415926);
+                            float rate = calcIntersectionRate(rect1, rect2);
+                            if (rate > m_lidar_camera_msg_iou)
                             {
                                 duplicate = 1;
                                 break;

TrackingRosEx.h

@@ -61,4 +61,5 @@ public:
 
     int m_recvMsgBit = 0b1111;//处理消息的类型
     int m_detectCameraCarSize = 150;//处理相机汽车边长的最小限制
+    float m_lidar_camera_msg_iou;//相机和雷达消息过滤用iou值
 };

common/Component.cpp

@@ -86,4 +86,30 @@ std::string GetTimeStr(uint64_t timestamp)
     sprintf(tStr, ".%d", misc);
     std::string timeStr = std::string(str) + std::string(tStr);
     return timeStr;
-}
\ No newline at end of file
+}
+
+double calcIntersectionArea(cv::RotatedRect rect1, cv::RotatedRect rect2)
+{
+    std::vector<cv::Point2f> vertices;
+    int intersectionType = cv::rotatedRectangleIntersection(rect1, rect2, vertices);
+    if (vertices.size() == 0)
+        return 0.0;
+    else
+    {
+        std::vector<cv::Point2f> order_pts;
+        // 找到交集（交集的区域），对轮廓的各个点进行排序
+
+        cv::convexHull(cv::Mat(vertices), order_pts, true);
+        double area = cv::contourArea(order_pts);
+        //float inner = (float)(area / (areaRect1 + areaRect2 - area + 0.0001));
+        return area;
+    }
+}
+
+float calcIntersectionRate(cv::RotatedRect rect1, cv::RotatedRect rect2)
+{
+    double area = calcIntersectionArea(rect1, rect2);
+
+    float iou_2d = area / (rect1.size.width * rect1.size.height + rect2.size.width * rect2.size.height);
+    return iou_2d;
+}

common/Component.h

@@ -2,6 +2,7 @@
 
 #include <string>
 #include <vector>
+#include <opencv2/opencv.hpp>
 
 uint64_t GetCurTime();
 
@@ -12,3 +13,7 @@ std::string GetMatrixStr(const float* data_ptr, int col, int row);
 std::string GetMatrixStr(const std::vector<std::vector<float>>& data_ptr, int col, int row);
 std::string GetMatrixStr(const std::vector<std::vector<double>>& data_ptr, int col, int row);
 std::string GetMatrixStr(float** data_ptr, int col, int row);
+
+double calcIntersectionArea(cv::RotatedRect rect1, cv::RotatedRect rect2);
+
+float calcIntersectionRate(cv::RotatedRect rect1, cv::RotatedRect rect2);