提交update一定次数才认为是有效的数据

BaseTracker/BaseTrack.cpp

@@ -18,6 +18,7 @@ void BaseTrack::Init(const std::vector<float>& data)
         observation(i) = data[i];
     kf_->x_.head(size) << observation;
     hit_streak_++;
+    m_update_count++;
 }
 void BaseTrack::Predict()
 {
@@ -40,6 +41,7 @@ void BaseTrack::Update(const std::vector<float>& data)
     coast_cycles_ = 0;
     // accumulate hit streak count
     hit_streak_++;
+    m_update_count++;
 
     // observation - center_x, center_y, area, ratio
     int size = data.size();
@@ -96,6 +98,10 @@ bool BaseTrack::IsLost()
 {
     return coast_cycles_ > m_kMaxCoastCycles;
 }
+bool BaseTrack::IsValid()
+{
+    return m_update_count >= m_updateValidCount;
+}
 int BaseTrack::GetMeasureData(std::vector<float>& data)
 {
     if (kf_ == nullptr || m_num_obs > m_num_states)

BaseTracker/BaseTrack.h

@@ -27,7 +27,8 @@ public:
     virtual int GetPredictData(std::vector<float>& data);
     virtual float GetNIS() const;
     virtual float GetProb() const;
-    virtual bool IsLost();
+    virtual bool IsLost();//数据是否丢失，如果不更新就会丢失
+    virtual bool IsValid();//数据是否有效
 
     virtual int GetMeasureData(std::vector<float>& data);
     
@@ -45,6 +46,8 @@ public:
 
     int coast_cycles_ = 0, hit_streak_ = 0;
 
+    int m_update_count = 0;//数据更新的次数
+
     int m_num_states = 0;
     int m_num_obs = 0;
 
@@ -52,6 +55,7 @@ public:
 
     float m_iou_threshold = 0.3;//iou计算之后匹配的最小值
     int m_kMaxCoastCycles = 2;//predict之后，计算几次认为丢失。
+    int m_updateValidCount = 3;//更新多少次认为是一个有效数据。
 
 
     std::shared_ptr<mytracker::KalmanFilter> kf_ = nullptr;

BaseTracker/BaseTracker.h

@@ -30,7 +30,7 @@ public:
 
 	int Run(const std::vector<std::vector<float> >& detections,std::vector<uint64_t>& detectionsId,std::map<uint64_t,int>& updateId,std::vector<uint64_t>& lostId);
 
-	std::map<uint64_t, std::shared_ptr<T> >& GetStates();
+	std::map<uint64_t, std::shared_ptr<T> > GetStates();
 
 
 	void AssociateDetectionsToTrackers(const std::vector<std::vector<float> >& detections, std::map<uint64_t, std::shared_ptr<T> >& tracks, std::map<uint64_t, int>& matched, std::vector<int>& unmatched_det);
@@ -157,9 +157,17 @@ int BaseTracker<T>::Run(const std::vector<std::vector<float> >& detections, std:
 }
 
 template<class T>
-std::map<uint64_t, std::shared_ptr<T> >& BaseTracker<T>::GetStates()
+std::map<uint64_t, std::shared_ptr<T> > BaseTracker<T>::GetStates()
 {
-    return m_tracker;
+    std::map<uint64_t, std::shared_ptr<T> > ret;
+    for (auto& track : m_tracker)
+    {
+        if (track.second->IsValid())
+        {
+            ret[track.first] = track.second;
+        }
+    }
+    return ret;
 }
 
 template<class T>

TrackingRos.cpp

@@ -300,7 +300,7 @@ void TrackingRos::ThreadTrackingProcess()
             m_tracker.Run(input, detectionsId, updateId, lostId);
             uint64_t rTime = GetCurTime() - begin;
             //SDK_LOG(SDK_INFO, "m_tracker.Run time = %llu", rTime);
-            std::map<uint64_t, std::shared_ptr<Track3D> >& trackers = m_tracker.GetStates();
+            std::map<uint64_t, std::shared_ptr<Track3D> > trackers = m_tracker.GetStates();
             static int count = 0;
             static int calcCount = 0;
             count++;