提交更新

BaseTracker/Track3D.cpp

@@ -34,8 +34,8 @@ double correct_angle(std::vector<point2d>& points)
     Eigen::SelfAdjointEigenSolver<Eigen::MatrixXd> eig(C); // 产生的vec和val按照特征值升序排列
     vec = eig.eigenvectors();
     val = eig.eigenvalues();
-    SDK_LOG(SDK_INFO, "vec = [%f,%f,%f,%f]", vec(0, 0), vec(0, 1), vec(1, 0), vec(1, 1));
-    SDK_LOG(SDK_INFO, "val = [%f,%f]", val(0), val(1));
+    //SDK_LOG(SDK_INFO, "vec = [%f,%f,%f,%f]", vec(0, 0), vec(0, 1), vec(1, 0), vec(1, 1));
+    //SDK_LOG(SDK_INFO, "val = [%f,%f]", val(0), val(1));
     // 打印
     //cout << "X_copy: " << endl << X_copy
     Eigen::Vector2d dX(points[4].x - points[0].x, points[4].y - points[0].y);
@@ -43,7 +43,7 @@ double correct_angle(std::vector<point2d>& points)
     double alpha = dX.transpose() * orientation;
     if (alpha < 0)
         orientation = -orientation;
-    SDK_LOG(SDK_INFO, "correct_angle orientation[0] = %f, orientation[1] = %f", orientation[0], orientation[1]);
+    //SDK_LOG(SDK_INFO, "correct_angle orientation[0] = %f, orientation[1] = %f", orientation[0], orientation[1]);
     double center_rot_y = atan2(orientation[1], orientation[0]);
     return center_rot_y;
 }
@@ -132,6 +132,12 @@ void Track3D::Predict()
     m_points.push_back(pos);
     BaseTrack::Predict();
 }
+void Track3D::Update(const std::vector<float>& data)
+{
+    std::vector<float> out;
+    UpdateDataCheck(data, out);
+    BaseTrack::Update(out);
+}
 
 
 float calcIOU(cv::RotatedRect rect1, cv::RotatedRect rect2) {
@@ -184,8 +190,8 @@ double Track3D::CalculateIou(const std::vector<float>& data)
     //double i3d_iou = CuboidIoU(truth_poses, landmark_poses);
 
 
-    cv::RotatedRect rect1 = cv::RotatedRect(cv::Point2f(states[0], states[1]), cv::Size2f(states[3], states[4]), states[6]*180 / 3.1415926);
-    cv::RotatedRect rect2 = cv::RotatedRect(cv::Point2f(data[0], data[1]), cv::Size2f(data[3], data[4]), data[6]*180/3.1415926);
+    cv::RotatedRect rect1 = cv::RotatedRect(cv::Point2f(states[0], states[1]), cv::Size2f(states[4], states[5]), states[3]*180 / 3.1415926);
+    cv::RotatedRect rect2 = cv::RotatedRect(cv::Point2f(data[0], data[1]), cv::Size2f(data[4], data[5]), data[3]*180/3.1415926);
 
     uint64_t begin = GetCurTime();
     double iou_3d = 0.0f;

BaseTracker/Track3D.h

@@ -34,6 +34,7 @@ public:
 
     virtual void Init(const std::vector<float>& data);
     virtual void Predict();
+    virtual void Update(const std::vector<float>& data);
 
     virtual double CalculateIou(const std::vector<float>& data);