提交数据修正逻辑

BaseTracker/BaseTrack.cpp

@@ -47,6 +47,10 @@ void BaseTrack::Update(const std::vector<float>& data)
     for (int i = 0; i < data.size(); i++)
         observation(i) = data[i];
     kf_->Update(observation);
+}
+void BaseTrack::UpdateDataCheck(const std::vector<float>& data, std::vector<float>& out)
+{
+
 }
 void BaseTrack::UpdateHit()
 {

BaseTracker/BaseTrack.h

@@ -18,6 +18,7 @@ public:
     virtual void Init(const std::vector<float>& data);
     virtual void Predict();
     virtual void Update(const std::vector<float>& data);
+    virtual void UpdateDataCheck(const std::vector<float>& data, std::vector<float>& out);//对于输入数据进行修正
     virtual void UpdateHit();
     virtual int GetStateData(std::vector<float>& data);
     virtual int GetPredictData(std::vector<float>& data);

BaseTracker/BaseTracker.h

@@ -94,10 +94,12 @@ int BaseTracker<T>::Run(const std::vector<std::vector<float> >& detections, std:
         for (const auto& match : matched)
         {
             const auto& id = match.first;
+            std::vector<float> cre_det;
+            m_tracker[id]->UpdateDataCheck(detections[match.second], cre_det);
             float* ptr_Z = Z.get() + bs_i * no;
             for (int i = 0; i < no; i++)
             {
-                ptr_Z[i] = detections[match.second][i];
+                ptr_Z[i] = cre_det[i];
             }
             X.get()[bs_i] = m_tracker[id]->GetStatesXPtr();
             P.get()[bs_i] = m_tracker[id]->GetPredictPtr();

BaseTracker/Track3D.cpp

@@ -215,3 +215,7 @@ int Track3D::GetKFDataOrder(std::vector<int>& order)
     order.push_back(6);
     return 0;
 }
+void Track3D::UpdateDataCheck(const std::vector<float>& data, std::vector<float>& out)
+{
+
+}
\ No newline at end of file

BaseTracker/Track3D.h

@@ -24,5 +24,7 @@ public:
     virtual int GetIouDataOrder(std::vector<int>& order);
     virtual int GetKFDataOrder(std::vector<int>& order);
 
+    virtual void UpdateDataCheck(const std::vector<float>& data, std::vector<float>& out);//对于输入数据进行修正
+
     trackOjbPtr m_obj = nullptr;
 };