update

BaseTracker/BaseTrack.cpp

@@ -103,6 +103,11 @@ bool BaseTrack::IsValid()
 {
     return m_update_count >= m_updateValidCount;
 }
+bool BaseTrack::IsValid(int& updateNum)
+{
+    updateNum = m_update_count;
+    return m_update_count >= m_updateValidCount;
+}
 int BaseTrack::GetIouData(std::vector<float>& data, int& obj_type)
 {
     if (kf_ == nullptr || m_num_obs > m_num_states)

BaseTracker/BaseTrack.h

@@ -29,6 +29,7 @@ public:
     virtual float GetProb() const;
     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 bool IsValid(int& updateNum);//数据是否有效，返回更新次数
 
     virtual int GetIouData(std::vector<float>& data,int& obj_type);
     

Tracking/TrackingObj.cpp

@@ -46,6 +46,8 @@ namespace juefx_tracking
         std::vector<float> values;
         values.push_back(matrix_angle_r_value);
         m_tracker.SetValues(values);
+        if(m_config["update_invalid_num"])
+            m_update_invalid_num = m_config["update_invalid_num"].as<int32_t>();
 
         if (config["TRANS"])
             m_trans = config["TRANS"].as<std::vector<std::vector<double>>>();

Tracking/TrackingObj.h

@@ -48,6 +48,7 @@ namespace juefx_tracking
 
         YAML::Node m_config;
         TrackingProcessCallback m_cb= nullptr;
+        int m_update_invalid_num = 10;//开始产生的时候速度不可信的帧数
     };
 
 

ros2/TrackingRos2.cpp

@@ -188,6 +188,7 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
     int is_need_send = 0;  //是否需要发送
     int camera_id = 0;
     int tracking_id = 0;  
+    int updateNum = 0;
     // if (updateId.find(iter.first) != updateId.end()) {
     //   input_obj = objsPtr->feature_objects
     //                   [updateId[iter.first]];
@@ -261,7 +262,7 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
             }
         }
         std::vector<float> data;
-        if (iter.second->IsValid() &&
+        if (iter.second->IsValid(updateNum) &&
             iter.second->GetStateData(data) == 0)  //初始obj更新跟踪的推理结果
         {
             is_need_send = 1;  //需要发送
@@ -301,7 +302,7 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
       if (iter.second->m_obj && iter.second->m_obj->obj)
         obj = *(iter.second->m_obj->obj);
       std::vector<float> data;
-      if (iter.second->IsValid() &&
+      if (iter.second->IsValid(updateNum) &&
           iter.second->GetStateData(data) ==
               0)  //跟踪链有效且获取到预测结果，初始obj更新跟踪的推理结果
       {
@@ -333,7 +334,10 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
     }
     while (orient.y < -_PI_) {
     orient.y += _PI_ * 2;
-    }    
+    }
+    int cof = obj.existence_probability;
+    if(updateNum != 0 && updateNum <= m_tracking.m_update_invalid_num)//
+        obj.existence_probability = 0.0f;
     geometry_msgs::msg::Vector3& linear =
         obj.kinematics.twist_with_covariance.twist.linear;  
     linear.x *= 10;  
@@ -409,7 +413,8 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
         markerText.color.a = 1.0;
         char str[512] = {};
         sprintf(str, "%d:%.2f",iter.first,linear.x);
-        // sprintf(str, "%.2f:%d:%.2f",obj.existence_probability,obj.classification[0].label,poss.x);
+        // sprintf(str, "%d:%d",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);        
         sendObjs.objects.emplace_back(obj);