提交跟踪时加入颜色信息的记录。

BaseTracker/Track3D.cpp

@@ -479,4 +479,32 @@ double Track3D::get_acceleration_y(double time_interval){
     double v_0 = (m_points[n-1].y - m_points[n-2].y) / time_interval;
     double v_1 = (m_points[n-2].y - m_points[n-3].y) / time_interval;
     return (v_0 - v_1) / time_interval;
+}
+
+int Track3D::UpdateColorInfo(std::string color)
+{
+    if(color.empty() || color == "unknown" || color == "null" || color == "None")
+        return -1;
+    if(m_colorInfos.find(color) == m_colorInfos.end())
+        m_colorInfos[color] = 0;
+    m_colorInfos[color]++;
+    return 0;
+}
+int Track3D::GetColorInfo(std::string& color)
+{
+    if(m_colorInfos.empty())
+    {
+        color = "unknown";
+        return -1;
+    }
+    int max = 0;
+    for(auto& iter : m_colorInfos)
+    {
+        if(iter.second > max)
+        {
+            max = iter.second;
+            color = iter.first;
+        }
+    }
+    return 0;    
 }
\ No newline at end of file

BaseTracker/Track3D.h

@@ -66,6 +66,11 @@ public:
 
     std::string m_number;//记录车牌号，出现一次就一直记录
     std::map<std::string,int> m_captureInfos;//记录车辆类型检测类型的次数
+
+    std::map<std::string,int> m_colorInfos;///< 记录车辆的颜色信息
+
+    int UpdateColorInfo(std::string color);
+    int GetColorInfo(std::string& color);
 };
 
 double correct_angle(std::vector<point2d>& points);

TrackingRos.cpp

@@ -572,7 +572,8 @@ void TrackingRos::ThreadTrackingProcess()
                         obj.obj_id = iter.first;
                         obj.acc_x = iter.second->get_acceleration_x(0.1);
                         obj.acc_y = iter.second->get_acceleration_y(0.1);
-
+                        iter.second->UpdateColorInfo(obj.color_name);
+                        iter.second->GetColorInfo(obj.color_name);
 #ifdef _ABUZHABI_
                         double lon = 0.0f;
                         double lat = 0.0f;
@@ -654,6 +655,7 @@ void TrackingRos::ThreadTrackingProcess()
                         obj.obj_id = iter.first;
                         obj.acc_x = iter.second->get_acceleration_x(0.1);
                         obj.acc_y = iter.second->get_acceleration_y(0.1);
+                        iter.second->GetColorInfo(obj.color_name);
 #ifdef _ABUZHABI_
 						double lon = 0.0f;
                         double lat = 0.0f;
@@ -808,9 +810,9 @@ void TrackingRos::ThreadTrackingProcess()
                         t_marker.pose.orientation.y = 0.0;
                         t_marker.pose.orientation.z = 0.0;
                         t_marker.pose.orientation.w = 1.0;
-                        t_marker.scale.x = 1.5;
-                        t_marker.scale.y = 1.5;
-                        t_marker.scale.z = 1.5;
+                        t_marker.scale.x = 4;
+                        t_marker.scale.y = 4;
+                        t_marker.scale.z = 4;
                         t_marker.color.a = 1.0;
                         t_marker.color.r = 0;
                         t_marker.color.g = 1.0;