提交修改

BaseTracker/BaseTracker.h

@@ -29,7 +29,7 @@ public:
     void SetValidUpdateCount(int count){ m_updateValidCount = count; }
     void SetValues(std::vector<float>& values) { m_values = values; }
 
-	int Run(const std::vector<std::vector<float> >& detections,std::vector<uint64_t>& detectionsId,std::map<uint64_t,int>& updateId,std::vector<uint64_t>& lostId);
+	int Run(const std::vector<std::vector<float> >& detections,int _no/*观测数量*/,int _ns/*状态数量*/,std::vector<uint64_t>& detectionsId,std::map<uint64_t,int>& updateId,std::vector<uint64_t>& lostId);
 
 	std::map<uint64_t, std::shared_ptr<T> > GetStates();
 
@@ -53,7 +53,7 @@ public:
 
 
 template<class T>
-int BaseTracker<T>::Run(const std::vector<std::vector<float> >& detections, std::vector<uint64_t>& detectionsId, std::map<uint64_t, int>& updateId, std::vector<uint64_t>& lostId)
+int BaseTracker<T>::Run(const std::vector<std::vector<float> >& detections, int _no/*观测数量*/, int _ns/*状态数量*/, std::vector<uint64_t>& detectionsId, std::map<uint64_t, int>& updateId, std::vector<uint64_t>& lostId)
 {
     /*** Predict internal tracks from previous frame ***/
     for (auto& track : m_tracker)
@@ -74,7 +74,7 @@ int BaseTracker<T>::Run(const std::vector<std::vector<float> >& detections, std:
     std::vector<int> unmatched_det;
 
     // return values - matched, unmatched_det
-    AssociateDetectionsToTrackers(detections, m_tracker, matched, unmatched_det);
+    AssociateDetectionsToTrackers(detections,_no,_ns, m_tracker, matched, unmatched_det);
 
     /*** Update tracks with associated bbox ***/
     if (m_isGPU == 0)
@@ -93,7 +93,7 @@ int BaseTracker<T>::Run(const std::vector<std::vector<float> >& detections, std:
         if (bs > 0)
         {
             int ns = 0;
-            int no = detections.size() > 0 ? detections[0].size() : 0;
+            int no = _no;
             std::shared_ptr<float> Z = std::shared_ptr<float>(new float[bs * no], [](float* p) {if (p) delete[] p; p = nullptr; });
             std::shared_ptr<float*> X = std::shared_ptr<float*>(new float* [bs], [](float** p) {if (p) delete[] p; p = nullptr; });
             std::shared_ptr<float*> P = std::shared_ptr<float*>(new float* [bs], [](float** p) {if (p) delete[] p; p = nullptr; });
@@ -185,7 +185,7 @@ std::map<uint64_t, std::shared_ptr<T> > BaseTracker<T>::GetStates()
 }
 
 template<class T>
-void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector<float> >& detections, std::map<uint64_t, std::shared_ptr<T> >& tracks, std::map<uint64_t, int>& matched, std::vector<int>& unmatched_det)
+void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector<float> >& detections, int _no/*观测数量*/, int _ns/*状态数量*/, std::map<uint64_t, std::shared_ptr<T> >& tracks, std::map<uint64_t, int>& matched, std::vector<int>& unmatched_det)
 {
     if (tracks.empty())
     {
@@ -255,7 +255,7 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
                 iter.second->GetIouDataOrder(iouOrder);
             }
         }
-        int measure_size = detections.size() > 0 ? detections[0].size() : 0;
+        int measure_size = _no;
         int tra_size = tracker_states.size() > 0 ? tracker_states[0].size() : 0;
         if (measure_size == 0 || measure_size != tra_size)
             return;

TrackingRos.cpp

@@ -300,6 +300,7 @@ void TrackingRos::ThreadTrackingProcess()
             {
                 jfx_common_msgs::det_tracking& obj = objsPtr->array[i];
                 std::vector<float> data;
+                data.push_back(obj.type);
                 data.push_back(obj.x);//x对应经度
                 data.push_back(obj.y);//y对应纬度
                 data.push_back(obj.z);
@@ -314,7 +315,7 @@ void TrackingRos::ThreadTrackingProcess()
             std::vector<uint64_t> lostId;
 
             uint64_t begin = GetCurTime();
-            m_tracker.Run(input, detectionsId, updateId, lostId);
+            m_tracker.Run(input,7,10, detectionsId, updateId, lostId);
             uint64_t rTime = GetCurTime() - begin;
             //SDK_LOG(SDK_INFO, "m_tracker.Run time = %llu", rTime);
             std::map<uint64_t, std::shared_ptr<Track3D> > trackers = m_tracker.GetStates();