提交获取prob数据

BaseTracker/BaseTrack.cpp

@@ -63,6 +63,10 @@ float BaseTrack::GetNIS() const
         return 0;
     return kf_->NIS_;
 }
+float BaseTrack::GetProb() const
+{
+    return m_prob;
+}
 
 bool BaseTrack::IsLost()
 {

BaseTracker/BaseTrack.h

@@ -20,6 +20,7 @@ public:
     virtual void Update(const std::vector<float>& data);
     virtual int GetStateData(std::vector<float>& data);
     virtual float GetNIS() const;
+    virtual float GetProb() const;
     virtual bool IsLost();
 
     virtual double CalculateIou(const std::vector<float>& data) = 0;

TrackingRos.cpp

@@ -144,7 +144,7 @@ void TrackingRos::ThreadTrackingProcess()
                         float gx = 0.0f;
                         float gy = 0.0f;
                         CalculateGuassPos(obj.x, obj.y, obj.z, m_trans, gx, gy);
-                        SDK_LOG(SDK_INFO, "CalculateGuassPos x = %f,y = %f, gx = %f, gy = %f",obj.x,obj.y,gx,gy);
+                        SDK_LOG(SDK_INFO, "CalculateGuassPos x = %f,y = %f, gx = %f, gy = %f,prob = %f",obj.x,obj.y,gx,gy,iter.second->GetProb());
                         jfx::Array gpos = {gx,gy};
                         jfx::Array pos = jfx::Inverse(gpos);
                         obj.Lat = pos[0];