提交添加配置项

BaseTracker/BaseTrack.h

@@ -44,6 +44,11 @@ public:
     float* GetPredictPtr();
     float* GetRPtr();
 
+    void SetIouThreshold(float threshold) { m_iou_threshold = threshold; }
+    void SetMaxCoastCycles(int cycles) { m_kMaxCoastCycles = cycles; }
+    void SetValidUpdateCount(int count) { m_updateValidCount = count; }
+    virtual void SetValues(std::vector<float>& data) {}
+
     int coast_cycles_ = 0, hit_streak_ = 0;
 
     int m_update_count = 0;//数据更新的次数

BaseTracker/BaseTracker.h

@@ -23,10 +23,11 @@ class BaseTracker
 public:
 	BaseTracker() {}
 
-    void SetGPU(int gpu)
-    {
-        m_isGPU = gpu;
-    }
+    void SetGPU(int gpu) { m_isGPU = gpu; }
+    void SetIouThreshold(float threshold) { m_iou_threshold = threshold; }
+    void SetMaxCoastCycles(int cycles) { m_kMaxCoastCycles = cycles; }
+    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);
 
@@ -43,6 +44,11 @@ public:
 
     int m_isGPU = 0;//默认不使用
 
+    float m_iou_threshold = 0.01;//iou计算之后匹配的最小值
+    int m_kMaxCoastCycles = 2;//predict之后，计算几次认为丢失。
+    int m_updateValidCount = 3;//更新多少次认为是一个有效数据。
+
+    std::vector<float> m_values;//调整矩阵参数的配置
 };
 
 
@@ -133,6 +139,10 @@ int BaseTracker<T>::Run(const std::vector<std::vector<float> >& detections, std:
     {
         std::shared_ptr<T> trackPtr = std::make_shared<T>();
         trackPtr->Init(detections[det]);
+        trackPtr->SetIouThreshold(m_iou_threshold);
+        trackPtr->SetMaxCoastCycles(m_kMaxCoastCycles);
+        trackPtr->SetValidUpdateCount(m_updateValidCount);
+        trackPtr->SetValues(m_values);
         // Create new track and generate new ID
         uint64_t newId = ++m_countId;
         m_tracker[newId] = trackPtr;

BaseTracker/Track3D.cpp

@@ -104,8 +104,6 @@ Track3D::Track3D():BaseTrack(10, 7)
 
     kf_ = kf;
 
-    m_iou_threshold = 0.01;
-
 }
 void Track3D::Init(const std::vector<float>& data)
 {
@@ -337,4 +335,23 @@ void Track3D::UpdateDataCheck(const std::vector<float>& data, std::vector<float>
     out = data;
     out[3] = rot_y;
 
-}
\ No newline at end of file
+}
+
+void Track3D::SetValues(std::vector<float>& data)
+{
+    if (data.size() < 1)
+        return;
+    float a = data[0];
+
+    if (kf_ == nullptr)
+        return;
+    kf->R_ <<
+        1, 0, 0, 0, 0, 0, 0,
+        0, 1, 0, 0, 0, 0, 0,
+        0, 0, 1, 0, 0, 0, 0,
+        0, 0, 0, a, 0, 0, 0,
+        0, 0, 0, 0, 1, 0, 0,
+        0, 0, 0, 0, 0, 1, 0,
+        0, 0, 0, 0, 0, 0, 1;
+    
+}

BaseTracker/Track3D.h

@@ -43,6 +43,8 @@ public:
 
     virtual void UpdateDataCheck(const std::vector<float>& data, std::vector<float>& out);//对于输入数据进行修正
 
+    virtual void SetValues(std::vector<float>& data);
+
     trackOjbPtr m_obj = nullptr;
 
     std::vector<point2d> m_points;//保存最近的5个移动的点位

TrackingRos.cpp

@@ -173,9 +173,22 @@ void TrackingRos::Init(ros::NodeHandle& nh)
     nh.param<float>("lidar_x_angle", m_lidar_x_angle, 354.102);
     SDK_LOG(SDK_INFO, "m_lidar_x_angle = %f", m_lidar_x_angle);
 
-    YAML::Node config = YAML::LoadFile(file.c_str());
-
-
+    float threshold;
+    nh.param<float>("iou_threshold", threshold, 0.01);
+    m_tracker.SetIouThreshold(threshold);
+    int max_coastcycles;
+    nh.param<int32_t>("max_coastcycles", max_coastcycles, 2);
+    m_tracker.SetMaxCoastCycles(max_coastcycles);
+    int update_valid_count;
+    nh.param<int32_t>("update_valid_count", update_valid_count, 2);
+    m_tracker.SetValidUpdateCount(update_valid_count);
+    float matrix_angle_r_value;
+    nh.param<float>("matrix_angle_r_value", matrix_angle_r_value, 0.1);
+    std::vector<float> values;
+    values.push_back(matrix_angle_r_value);
+    m_tracker.SetValues(values);
+
+    YAML::Node config = YAML::LoadFile(file.c_str())
     auto cfg = config["TRACKING"];
     m_trans = cfg["TRANS"].as<std::vector<std::vector<double>>>();