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jfx_kalman_filter_src
Commit 88cde9d0 authored by oscar's avatar oscar
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提交测试

parent e2ecb151
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Showing with 6 additions and 6 deletions
BaseTracker/Track3D.cpp
View file @ 88cde9d0
......@@ -58,7 +58,7 @@ Track3D::Track3D():BaseTrack(10, 7)
0, 0, 0, 1, 0, 0, 0,
0, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 0, 1, 0,
0, 0, 0, 0, 0, 0, 0.01;
0, 0, 0, 0, 0, 0, 1;
kf_ = kf;
......
TrackingRos.cpp
View file @ 88cde9d0
......@@ -217,15 +217,15 @@ void TrackingRos::ThreadTrackingProcess()
obj.l = data[3];
obj.w = data[4];
obj.h = data[5];
//obj.rot_y = data[6];
obj.rot_y = data[6];
obj.v_x = data[7];
obj.v_y = data[8];
obj.v_z = data[9];
obj.obj_id = iter.first;
//SDK_LOG(SDK_INFO, "frame = %llu, id = %llu, input(%f,%f,%f,%f,%f,%f,%f) output(%f,%f,%f,%f,%f,%f,%f) prob = %f",
// obj.frame,iter.first, objsPtr->array[updateId[iter.first]].x, objsPtr->array[updateId[iter.first]].y, objsPtr->array[updateId[iter.first]].z,
// objsPtr->array[updateId[iter.first]].l, objsPtr->array[updateId[iter.first]].w, objsPtr->array[updateId[iter.first]].h, objsPtr->array[updateId[iter.first]].rot_y,
// obj.x,obj.y,obj.z,obj.l,obj.w,obj.h,obj.rot_y, iter.second->GetProb());
SDK_LOG(SDK_INFO, "frame = %llu, id = %llu, input(%f,%f,%f,%f,%f,%f,%f) output(%f,%f,%f,%f,%f,%f,%f) prob = %f",
obj.frame,iter.first, objsPtr->array[updateId[iter.first]].x, objsPtr->array[updateId[iter.first]].y, objsPtr->array[updateId[iter.first]].z,
objsPtr->array[updateId[iter.first]].l, objsPtr->array[updateId[iter.first]].w, objsPtr->array[updateId[iter.first]].h, objsPtr->array[updateId[iter.first]].rot_y,
obj.x,obj.y,obj.z,obj.l,obj.w,obj.h,obj.rot_y, iter.second->GetProb());
float gx = 0.0f;
float gy = 0.0f;
CalculateGuassPos(obj.x, obj.y, obj.z, m_trans, gx, gy);
......
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