修改iou计算时加入速度的分量。

BaseTracker/Track3D.cpp

@@ -218,9 +218,9 @@ double Track3D::CalculateIou(const std::vector<float>& data)
     //std::vector<float> truth_poses{ states[0], states[1], states[2],0, 0, states[6]/180* 3.1415926, states[3]/2, states[4]/2, states[5]/2 };
     //std::vector<float> landmark_poses{ data[0], data[1], data[2],0, 0, data[6] / 180 * 3.1415926, data[3]/2, data[4]/2, data[5]/2 };
     //double i3d_iou = CuboidIoU(truth_poses, landmark_poses);
+    float v = sqrt(states[7] * states[7] + states[8] * states[8]);
 
-
-    cv::RotatedRect rect1 = cv::RotatedRect(cv::Point2f(states[0], states[1]), cv::Size2f(states[4], states[5]), states[3]*180 / 3.1415926);
+    cv::RotatedRect rect1 = cv::RotatedRect(cv::Point2f(states[0], states[1]), cv::Size2f(states[4] + v, states[5]), states[3]*180 / 3.1415926);
     cv::RotatedRect rect2 = cv::RotatedRect(cv::Point2f(data[1], data[2]), cv::Size2f(data[5], data[6]), data[4]*180/3.1415926);
 
     uint64_t begin = GetCurTime();