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jfx_kalman_filter_src
Commit abc40a86 authored by oscar's avatar oscar
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去除不用的逻辑

parent 151aa6f0
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Showing with 17 additions and 17 deletions
TrackingRosEx.cpp
View file @ abc40a86
......@@ -647,14 +647,14 @@ void TrackingRos::ThreadTrackingProcess()
obj.v_y = data[8];
obj.v_z = data[9];
obj.obj_id = iter.first;
double gx = 0.0f;
double gy = 0.0f;
CalculateGuassPos(obj, m_trans, m_kitti2origin, gx, gy);
//SDK_LOG(SDK_INFO, "CalculateGuassPos x = %f,y = %f, gx = %f, gy = %f,prob = %f",obj.x,obj.y,gx,gy,iter.second->GetProb());
jfx::Array gpos = {gx,gy};
jfx::Array pos = jfx::Inverse(gpos);
obj.Lat = pos[0];
obj.Long = pos[1];
//double gx = 0.0f;
//double gy = 0.0f;
//CalculateGuassPos(obj, m_trans, m_kitti2origin, gx, gy);
////SDK_LOG(SDK_INFO, "CalculateGuassPos x = %f,y = %f, gx = %f, gy = %f,prob = %f",obj.x,obj.y,gx,gy,iter.second->GetProb());
//jfx::Array gpos = {gx,gy};
//jfx::Array pos = jfx::Inverse(gpos);
//obj.Lat = pos[0];
//obj.Long = pos[1];
//SDK_LOG(SDK_INFO, "lat = %.10f, lon = %.10f",obj.Lat,obj.Long);
}
if(iter.second->m_obj)
......@@ -680,14 +680,14 @@ void TrackingRos::ThreadTrackingProcess()
obj.v_y = data[8];
obj.v_z = data[9];
obj.obj_id = iter.first;
double gx = 0.0f;
double gy = 0.0f;
CalculateGuassPos(obj, m_trans, m_kitti2origin, gx, gy);
//double gx = 0.0f;
//double gy = 0.0f;
//CalculateGuassPos(obj, m_trans, m_kitti2origin, gx, gy);
//SDK_LOG(SDK_INFO, "CalculateGuassPos x = %f,y = %f, gx = %f, gy = %f,prob = %f", obj.x, obj.y, gx, gy, iter.second->GetProb());
jfx::Array gpos = { gx,gy };
jfx::Array pos = jfx::Inverse(gpos);
obj.Lat = pos[0];
obj.Long = pos[1];
//jfx::Array gpos = { gx,gy };
//jfx::Array pos = jfx::Inverse(gpos);
//obj.Lat = pos[0];
//obj.Long = pos[1];
//SDK_LOG(SDK_INFO, "lat = %.10f, lon = %.10f", obj.Lat, obj.Long);
}
}
......@@ -702,8 +702,8 @@ void TrackingRos::ThreadTrackingProcess()
{
obj.rot_y += _PI_ * 2;
}
float rot_y_angle = obj.rot_y;
obj.rot_y = to360(obj.rot_y, m_lidar_x_angle);
//float rot_y_angle = obj.rot_y;
//obj.rot_y = to360(obj.rot_y, m_lidar_x_angle);
//SDK_LOG(SDK_INFO, "rot_y_angle = %f, rot_y = %f", rot_y_angle, obj.rot_y);
std::vector<float> predict;
if (iter.second->GetPredictData(predict) == 0)
......
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