提交代码

jfx_tracking.cpp

-#include <ros/ros.h>
+#include <ros/ros.h>
 //#include "image_synchronizer.h"
 //#include <yaml-cpp/yaml.h>
 
@@ -18,19 +18,19 @@ int main(int argc, char*argv[]) {
     ros::NodeHandle nh("~");
 
 
-    BaseTracker<Track3D> tracker3d;
-    BaseTracker<Track2D> tracker2d;
+    //BaseTracker<Track3D> tracker3d;
+    //BaseTracker<Track2D> tracker2d;
 
-    std::map<uint64_t, std::shared_ptr<Track3D> >& a = tracker3d.GetStates();
-    std::map<uint64_t, std::shared_ptr<Track2D> >& b = tracker2d.GetStates();
+    //std::map<uint64_t, std::shared_ptr<Track3D> >& a = tracker3d.GetStates();
+    //std::map<uint64_t, std::shared_ptr<Track2D> >& b = tracker2d.GetStates();
     
 
     //std::vector<float> truth_poses{ -0.4875, -0.798913, -1.125, 0, 0, -1.27409, 0.240477, 0.235315, 0.375 };
-    std::vector<float> truth_poses{ -0.1875, -0.798913, -1.0, 0, 0, -1.27409, 0.240477, 0.235315, 0.375 };
-    //std::vector<float> landmark_poses{ -0.506616, -0.796303, -1.20499, 0, 0, -0.345443, 0.22,  0.22, 0.4 };
-    std::vector<float> landmark_poses{ -0.4875, -0.798913, -1.125, 0, 0, -1.27409, 0.240477, 0.47063, 0.375 };
-    double iou_3d = CuboidIoU(truth_poses, landmark_poses);
-    std::cout<<"the iou of two cuboid is: "<< iou_3d << std::endl;
+    //std::vector<float> truth_poses{ -0.1875, -0.798913, -1.0, 0, 0, -1.27409, 0.240477, 0.235315, 0.375 };
+    ////std::vector<float> landmark_poses{ -0.506616, -0.796303, -1.20499, 0, 0, -0.345443, 0.22,  0.22, 0.4 };
+    //std::vector<float> landmark_poses{ -0.4875, -0.798913, -1.125, 0, 0, -1.27409, 0.240477, 0.47063, 0.375 };
+    //double iou_3d = CuboidIoU(truth_poses, landmark_poses);
+    //std::cout<<"the iou of two cuboid is: "<< iou_3d << std::endl;
 
     //std::string config_yaml = "/data/catkin_ws_xishan/src/rosrv2x/jfx_rvconfig/param/vision_config.yaml";
     //nh.param<std::string>("vision_config_path", config_yaml, "");