提交写log日志的逻辑。

TrackingRos.cpp

@@ -341,8 +341,21 @@ void TrackingRos::Init(ros::NodeHandle& nh)
 #endif
     // SDK_LOG(SDK_INFO, "trans = [%s]", GetMatrixStr(m_trans, 4, 4).c_str());
     SDK_LOG(SDK_INFO, "kitti2origin = [%s]", GetMatrixStr(m_kitti2origin,4,4).c_str());
-    // ADD_DEF_LOG(1, "tracking.csv");
-    // SDK_IDX_LOG(1, SDK_INFO, "date,frameNum,time,id,input_radian,input_angle,predict_radian,predict_angle,output_radian,output_angle,input_type,input_x,input_y,input_z,input_l,input_w,input_h,last_type,predict_x,predict_y,predict_z,predict_l,predict_w,preditc_h,output_type,output_x,output_y,output_z,output_l,output_w,output_h,output_rot_y,v_x,v_y,v_z,lat,lon");
+
+    int is_save_log = 0;
+    if(config["is_save_log"])
+        is_save_log = config["is_save_log"].as<int>();
+    if(is_save_log == 1)
+    {
+        std::string logFile = "./tracking_log.log";
+        if(config["save_log_file"])
+            logFile = config["save_log_file"].as<std::string>();
+        ADD_DEF_LOG(1, logFile.c_str());
+        SDK_IDX_LOG(1, SDK_INFO, "frame,type,score,h,w,l,x,y,z,rot_y,obj_id,v_x,v_y,v_z,loc_x,loc_y,loc_z,Lat,Long,center_Lat,center_Long,name,license_plate_number,color_name");
+// frame,type,score,h,w,l,x,y,z,rot_y,obj_id,v_x,v_y,v_z,loc_x,loc_y,loc_z,Lat,Long,center_Lat,center_Long,name,license_plate_number,color_name
+// 时间戳（整型）,目标类型（整型）,置信度（浮点）,高度（浮点）,宽度（浮点）,长度（浮点）,中心点局部x坐标（浮点）,中心点局部y坐标（浮点）,中心点局部z坐标（浮点）,航向角（浮点）,跟踪ID（整型）,速度x（浮点）,速度y（浮点）,速度z（浮点）,定位点x（浮点）,定位点y（浮点）,定位点z（浮点）,定位点纬度（双精度浮点）,定位点经度（双精度浮点）,中心点纬度（双精度浮点）,中心点经度（双精度浮点）,名称（字符串,可选）,车牌号（字符串,可选）,颜色（字符串,可选）        
+    }
+        
     //m_coordinate.Init(value[0][0], value[0][1], value[0][2], value[0][3], value[1][0], value[1][1]);
 
     std::string fusion_topic = "/fusion_res";
@@ -720,6 +733,11 @@ void TrackingRos::ThreadTrackingProcess()
                         //     last_type,predict[0], predict[1], predict[2], predict[4], predict[5], predict[6],
                         //     obj.type,obj.x, obj.y, obj.z, obj.l, obj.w, obj.h, obj.rot_y, obj.v_x, obj.v_y, obj.v_z, obj.Lat, obj.Long);
                     }
+// frame,type,score,h,w,l,x,y,z,rot_y,obj_id,v_x,v_y,v_z,loc_x,loc_y,loc_z,Lat,Long,center_Lat,center_Long,name,license_plate_number,color_name
+// 时间戳（整型）,目标类型（整型）,置信度（浮点）,高度（浮点）,宽度（浮点）,长度（浮点）,中心点局部x坐标（浮点）,中心点局部y坐标（浮点）,中心点局部z坐标（浮点）,航向角（浮点）,跟踪ID（整型）,速度x（浮点）,速度y（浮点）,速度z（浮点）,定位点x（浮点）,定位点y（浮点）,定位点z（浮点）,定位点纬度（双精度浮点）,定位点经度（双精度浮点）,中心点纬度（双精度浮点）,中心点经度（双精度浮点）,名称（字符串,可选）,车牌号（字符串,可选）,颜色（字符串,可选）
+                    SDK_IDX_LOG(1, SDK_INFO, "%llu,%d,%f,%f,%f,%f,%f,%f,%f,%f,%u,%f,%f,%f,0,0,0,0,0,%.10f,%.10f,%s,%s,%s",
+                        obj.frame,obj.type,obj.score,obj.h,obj.w,obj.l,obj.x,obj.y,obj.z,obj.rot_y,
+                        obj.obj_id,obj.v_x*10,obj.v_y*10,obj.v_z*10,obj.Lat,obj.Long,obj.name.c_str(),obj.license_plate_number.c_str(),obj.color_name.c_str());
 
                     jsk_recognition_msgs::BoundingBox box = {};
                     box.label = obj.obj_id;

log/jfx_log.cpp

@@ -47,25 +47,41 @@ int AddLogFileSys(const char* file, int& fileIdx)
 		if (name.empty())
 			return -1;
 		fileIdx = 1;
-		std::string path = GetRootDir();
-
-		time_t tt = time(NULL);
-		tm* t = localtime(&tt);
-		char logName[1024] = {};
-		sprintf(logName, "%04d%02d%02d-%02d%02d%02d_%s", t->tm_year + 1900, t->tm_mon + 1, t->tm_mday, t->tm_hour, t->tm_min, t->tm_sec, file);
-		std::string csvFile = std::string(logName);
-		std::string dir = path + "/" + csvFile;
-		LOG(INFO) << "AddLogFileSys save file = " << dir;
-#ifdef _WIN32
-		if (fopen_s(&g_file, dir.c_str(), "wt") != 0)
-#else
-		if (nullptr == (g_file = fopen(dir.c_str(), "wt")))
-#endif
-		{
-			g_file = nullptr;
-			return -2;
-		}
-
+        if(name == "csv")
+        {
+            std::string path = GetRootDir();
+
+            time_t tt = time(NULL);
+            tm* t = localtime(&tt);
+            char logName[1024] = {};
+            sprintf(logName, "%04d%02d%02d-%02d%02d%02d_%s", t->tm_year + 1900, t->tm_mon + 1, t->tm_mday, t->tm_hour, t->tm_min, t->tm_sec, file);
+            std::string csvFile = std::string(logName);
+            std::string dir = path + "/" + csvFile;
+            LOG(INFO) << "AddLogFileSys save file = " << dir;
+    #ifdef _WIN32
+            if (fopen_s(&g_file, dir.c_str(), "wt") != 0)
+    #else
+            if (nullptr == (g_file = fopen(dir.c_str(), "wt")))
+    #endif
+            {
+                g_file = nullptr;
+                return -2;
+            }
+        }
+        else
+        {
+            std::string dir = name;
+            LOG(INFO) << "AddLogFileSys save file = " << dir;
+    #ifdef _WIN32
+            if (fopen_s(&g_file, dir.c_str(), "wt+") != 0)
+    #else
+            if (nullptr == (g_file = fopen(dir.c_str(), "wt")))
+    #endif
+            {
+                g_file = nullptr;
+                return -2;
+            }            
+        }
 	}
 	return 0;
 }