提交代码

TrackingRos.cpp

@@ -66,6 +66,7 @@ void TrackingRos::ThreadTrackingProcess()
         bool ret = m_objsQueue.timeout_pop(objsPtr, 2000);
         if (ret)
         {
+            SDK_LOG(SDK_INFO, "get objs size = %d",objsPtr->array.size());
             std::vector< std::vector<float> > input;
             for (int i = 0; i < objsPtr->array.size(); i++)
             {
@@ -84,7 +85,10 @@ void TrackingRos::ThreadTrackingProcess()
             std::vector<uint64_t> detectionsId;
             std::map<uint64_t, int> updateId;
             std::vector<uint64_t> lostId;
+
+            SDK_LOG(SDK_INFO, "run before");
             m_tracker.Run(input, detectionsId, updateId, lostId);
+            SDK_LOG(SDK_INFO, "run after");
 
             std::map<uint64_t, std::shared_ptr<Track3D> >& trackers = m_tracker.GetStates();
             
@@ -120,8 +124,9 @@ void TrackingRos::ThreadTrackingProcess()
                 sendObjs.array.emplace_back(obj);
             }
             sendObjs.cloud = objsPtr->cloud;
+            SDK_LOG(SDK_INFO, "calculate objs size = %d", sendObjs.array.size());
 
-            m_pub.publish(sendObjs);
+            //m_pub.publish(sendObjs);
         }
 
     }