提交iou计算修改

BaseTracker/Track3D.cpp

@@ -230,8 +230,8 @@ double Track3D::CalculateIou(const std::vector<float>& data)
         double tru_minz = states[2] - states[5] / 2;
         double tru_maxz = states[2] + states[5] / 2;
 
-        double land_minz = data[2] - data[5] / 2;
-        double land_maxz = data[2] + data[5] / 2;
+        double land_minz = data[3] - data[6] / 2;
+        double land_maxz = data[3] + data[6] / 2;
         if (land_maxz <= tru_maxz && land_maxz >= tru_minz) {
             interHeight = land_maxz - tru_minz;
         }
@@ -241,7 +241,7 @@ double Track3D::CalculateIou(const std::vector<float>& data)
         if (interHeight > 0)
         {
             double inter3D = area * interHeight;
-            iou_3d = inter3D / (states[3] * states[4] * states[5] + data[3] * data[4] * data[5] - inter3D);
+            iou_3d = inter3D / (states[3] * states[4] * states[5] + data[4] * data[5] * data[6] - inter3D);
         }
     }
     //SDK_LOG(SDK_INFO, "CuboidIoU time = %llu", GetCurTime() - begin);