提交更新

BaseTracker/Track3D.h

@@ -59,6 +59,8 @@ public:
     uint64_t m_lastLastTimestamp = 0;//记录上上一次的时间戳
 
     double m_center_rot_y = 0;//通过计算轨迹上的五个点算出来的方向
+
+    std::string m_number;//记录车牌号，出现一次就一直记录
 };
 
 double correct_angle(std::vector<point2d>& points);

TrackingRos.cpp

@@ -478,6 +478,18 @@ void TrackingRos::ThreadTrackingProcess()
                     }
                     if(iter.second->m_obj)
                         last_type = iter.second->m_obj->type;
+                    if (iter.second->m_number.empty() && !obj.license_plate_number.empty())
+                    {
+                        iter.second->m_number = obj.license_plate_number;
+                    }
+                    else if (!iter.second->m_number.empty() && !obj.license_plate_number.empty())
+                    {
+                        if (iter.second->m_number != obj.license_plate_number)
+                        {
+                            SDK_LOG(SDK_INFO, "car number change old = %s, new = %s", iter.second->m_number.c_str(), obj.license_plate_number.c_str());
+                        }
+                    }
+                    obj.license_plate_number = iter.second->m_number;
                     iter.second->m_obj = std::make_shared<jfx_common_msgs::det_tracking>(obj);
                 }
                 else
@@ -567,7 +579,7 @@ void TrackingRos::ThreadTrackingProcess()
                         target.reportType = "Pedestrian";
                     else
                         target.reportType = "Other_Truck";
-                    target.vehicleNum = "0";
+                    target.vehicleNum = obj.license_plate_number;
                     target.confidence = obj.score * 100;
                     target.location.x = obj.Lat;
                     target.location.y = obj.Long;