2D跟踪

TrackingRosEx_2D.h

+#pragma once
+
+#include <vector>
+#include <mutex>
+#include "BaseTracker.h"
+#include "Track2D.h"
+#ifdef _QICHECHENG_
+#include "jfxrosperceiver/det_tracking_array.h"
+#include "jfxrosperceiver/InferReses.h"
+#define jfx_common_msgs jfxrosperceiver
+#else
+#include "jfx_common_msgs/det_tracking_array.h"
+#endif
+#include "SafeQueue.hpp"
+//#include "TrackingMsg.h"
+#include "ros/ros.h"
+#include "coordinate_convert.h"
+#include "TimeQueueObj.h"
+
+using objTrackListPtr = std::shared_ptr<jfx_common_msgs::det_tracking_array>;
+
+
+class TrackingRos
+{
+public:
+    // Constructor
+    TrackingRos() {}
+    ~TrackingRos();
+
+    void TrackingCallBackFunc(const jfx_common_msgs::det_tracking_arrayConstPtr& msg);//接受ros发过来的消息
+    void TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesConstPtr& msg);//接受camera发过来的消息
+
+    void Init(ros::NodeHandle& nh);
+
+    void ThreadTrackingProcess();
+
+
+    objTrackListPtr GetNearestCloudMsg(unsigned long long timestamp);
+
+public:
+
+    SafeQueue<objTrackListPtr> m_objsQueue;
+
+    std::mutex m_mtx;
+    std::vector<objTrackListPtr> m_objsCloudQueue;
+
+    BaseTracker<Track2D> m_tracker;
+
+    bool m_isTrackingRun = false;//记录是否在运行
+    std::thread m_trackingThread;//运行事件线程
+    ros::Publisher m_pub;//发送所有物体信息的publisher
+    ros::Publisher m_pubCloud;//发送点云数据
+    ros::Publisher m_pubBoundingBoxes;//发送3D框信息
+    ros::Publisher m_pubMarker;//发送marker信息
+    ros::Publisher m_pubCameraFront;//发送前相机的图
+    ros::Publisher m_pubCameraRight;//发送右相机的图
+    ros::Publisher m_pubCameraLeft;//发送左相机的图
+
+    std::vector<std::vector<double>> m_trans;
+    std::vector<std::vector<double>> m_kitti2origin;
+
+    int m_frameNum = 0;
+
+    float m_lidar_x_angle = 0.0f;//修改rot_y的参数，从配置里读取
+
+    int m_recvMsgBit = 0b1111;//处理消息的类型
+    int m_detectCameraCarSize = 150;//处理相机汽车边长的最小限制
+    float m_lidar_camera_msg_iou = 0.01;//相机和雷达消息过滤用iou值
+    int m_camera_one_center_type = 0;//计算中心点坐标的配置，0是原来的配置，1，使用比例获取x值，2是比例取值并且用中心点坐标
+    int m_camera_cloud_merge_type = 0;//0是使用距离判断，1是使用iou判断
+    int m_camera_debug_type = 0;//调试相机类型是否修改为7，0是正常，1是调试为7
+    int m_right_left_camera_len = 15;//左右相机的显示距离米数
+    int m_right_left_camera_y_len = 7;//左右相机的过滤宽度米数
+    int m_front_camera_len = 0;//-前相机过滤的距离米数,0是不过滤，70就是过滤70米，但不过滤行人和机动车
+    int m_send_camera_image = 0;//是否发送相机图像，0是不发送，1是发送
+    float m_high_low_score = 0.5f;//high和low划分的置信度数值
+
+    void TimeQueueProcess(std::vector< TimeQueueDataPtr>& outs);
+
+    TimeQueueObj m_timeQueue;
+};