update

ros2/TrackingRos2.cpp

@@ -116,9 +116,8 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
     float prob = objsPtr->feature_objects[i].object.existence_probability;
     int label = objsPtr->feature_objects[i].object.classification[0].label;
     int dataSource = objsPtr->feature_objects[i].data_source;
-    // RCLCPP_INFO(this->get_logger(),"frameNum = %d, obj pos = [%f,%f,%f],
-    // label = %d,orient.y = %f, dim = [%f,%f,%f],dataSource = %d",
-    // frameNum,pos.x,pos.y,pos.z,
+    // RCLCPP_INFO(this->get_logger(),"frameNum = %d, obj pos = [%f,%f,%f],cof = %f,label = %d,orient.y = %f, dim = [%f,%f,%f],dataSource = %d",
+    //             frameNum,pos.x,pos.y,pos.z,prob,
     //             label,orient.y,dim.x,dim.y,dim.z,dataSource);
     std::vector<float> data;
     data.push_back(label);
@@ -335,7 +334,7 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
     while (orient.y < -_PI_) {
     orient.y += _PI_ * 2;
     }
-    int cof = obj.existence_probability;
+    float cof = obj.existence_probability;
     if(updateNum != 0 && updateNum <= m_tracking.m_update_invalid_num)//
         obj.existence_probability = 0.0f;
     geometry_msgs::msg::Vector3& linear =
@@ -413,7 +412,7 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
         markerText.color.a = 1.0;
         char str[512] = {};
         sprintf(str, "%d:%.2f",iter.first,linear.x);
-        // sprintf(str, "%d:%d",iter.first,obj.classification[0].label);
+        // sprintf(str, "%.1f:%d:%d",cof,iter.first,obj.classification[0].label);
         // sprintf(str, "%.2f:%d:%.2f:%.2f",cof,obj.classification[0].label,poss.x,linear.x);
         markerText.text = str;        
         makerTextArray.markers.emplace_back(markerText);