2D跟踪

TrackingRosEx.cpp

@@ -836,13 +836,13 @@ void TrackingRos::ThreadTrackingProcess()
                 if (updateHId.find(iter.first) != updateHId.end() || updateLId.find(iter.first) != updateLId.end())
                 {
                     if(updateHId.find(iter.first) != updateHId.end())
-                        obj = objsPtr->array[indexH[updateHId[iter.first]]];
+                        obj = objsPtr->array[indexH[updateHId[iter.first]]];   //从检测结果里得到初始高分obj
                     if(updateLId.find(iter.first) != updateLId.end())
-                        obj = objsPtr->array[indexL[updateLId[iter.first]]];
+                        obj = objsPtr->array[indexL[updateLId[iter.first]]];   //从检测结果里得到初始低分obj
                     input_obj = obj;
                     obj.obj_id = iter.first;
                     std::vector<float> data;
-                    if (iter.second->IsValid() && iter.second->GetStateData(data) == 0)
+                    if (iter.second->IsValid() && 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
                         obj.x = data[0];
@@ -866,16 +866,16 @@ void TrackingRos::ThreadTrackingProcess()
                         //obj.Long = pos[1];
                         //SDK_LOG(SDK_INFO, "lat = %.10f, lon = %.10f",obj.Lat,obj.Long);
                     }
-                    if(iter.second->m_obj)
-                        last_type = iter.second->m_obj->type;
-                    iter.second->m_obj = std::make_shared<jfx_common_msgs::det_tracking>(obj);
+                    // if(iter.second->m_obj)
+                    //     last_type = iter.second->m_obj->type;
+                    iter.second->m_obj = std::make_shared<jfx_common_msgs::det_tracking>(obj);  //不仅状态变量还有类型时间戳的m_obj数据更新（Tracker3D.h的智能指针）
                 }
-                else
+                else         //未匹配但跟踪链未被删除
                 {
                     if(iter.second->m_obj)
                         obj = *(iter.second->m_obj);
                     std::vector<float> data;
-                    if (iter.second->IsValid() && iter.second->GetStateData(data) == 0)
+                    if (iter.second->IsValid() && 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
                     {
                         is_need_send = 1;//需要发送
                         obj.x = data[0];

jfx_tracking_ex.cpp

@@ -10,7 +10,7 @@
 #include "jfx_log.h"
 #include "LogBase.h"
 #include "TrackingRosEx.h"
-
+//#include "TrackingRosEx_2D.h"
 //using namespace jfx_vision;
 
 //std::unique_ptr<VisionConfig>  jfx_vision::g_visionConfig;