提交阿布扎比的项目逻辑

BaseTracker/Track3D.h

@@ -61,6 +61,7 @@ public:
     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
+    std::map<std::string,int> m_captureInfos;//记录车辆类型检测类型的次数
 };
 
 double correct_angle(std::vector<point2d>& points);

TrackingRos.cpp

@@ -490,6 +490,16 @@ void TrackingRos::ThreadTrackingProcess()
                         }
                     }
                     obj.license_plate_number = iter.second->m_number;
+#ifdef _SEND_ABUZHABI_
+                    if(obj.name == "AT" || obj.name == "MT")
+                    {
+                        if(iter.second->m_captureInfos.find(obj.name) == iter.second->m_captureInfos.end())
+                        {
+                            iter.second->m_captureInfos[obj.name] = 0;
+                        }
+                        iter.second->m_captureInfos[obj.name]++;
+                    }
+#endif
                     iter.second->m_obj = std::make_shared<jfx_common_msgs::det_tracking>(obj);
                 }
                 else
@@ -573,12 +583,28 @@ void TrackingRos::ThreadTrackingProcess()
                     sendObjs.array.emplace_back(obj);
 #ifdef _SEND_ABUZHABI_
                     Targets target = {};
-                    if (obj.type == 1 || obj.type == 2 || obj.type == 3)
-                        target.reportType = "AT";
-                    else if (obj.type == 4)
-                        target.reportType = "Pedestrian";
+                    int AT_num = 0;
+                    int MT_num = 0;
+                    if(iter.second->m_captureInfos.find("AT") != iter.second->m_captureInfos.end())
+                        AT_num = iter.second->m_captureInfos["AT"];
+                    if(iter.second->m_captureInfos.find("MT") != iter.second->m_captureInfos.end())
+                        MT_num = iter.second->m_captureInfos["MT"];
+                    if(AT_num != 0 || MT_num != 0)
+                    {
+                        if(AT_num >= MT_num)
+                            target.reportType = "AT";
+                        else
+                            target.reportType = "MT";
+                    }
                     else
-                        target.reportType = "Other_Truck";
+                    {
+                        if (obj.type == 1)
+                            target.reportType = "ET";
+                        else if (obj.type == 4)
+                            target.reportType = "Pedestrian";
+                        else
+                            target.reportType = "Other_Truck";
+                    }
                     target.vehicleNum = obj.license_plate_number;
                     target.uniqueID = std::to_string(obj.obj_id);
                     target.confidence = obj.score * 100;