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jfx_kalman_filter_src
Commit e301412a authored by oscar's avatar oscar
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parent 6c3d8d0f
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Showing with 7 additions and 7 deletions
TrackingRosEx.cpp
View file @ e301412a
......@@ -357,7 +357,7 @@ void TrackingRos::TrackingCallBackFunc(const jfx_common_msgs::det_tracking_array
objsPtr->cloud = msg->cloud;
unsigned long long timestamp = (unsigned long long)msg->cloud.header.stamp.sec * 1000000 + (unsigned long long)msg->cloud.header.stamp.nsec * 1e-3;
SDK_LOG(SDK_INFO, "TrackingCallBackFunc msg->header.stamp.sec = %d,msg->header.stamp.nsec = %d time = %llu", msg->cloud.header.stamp.sec, msg->cloud.header.stamp.nsec, timestamp);
//SDK_LOG(SDK_INFO, "TrackingCallBackFunc msg->header.stamp.sec = %d,msg->header.stamp.nsec = %d time = %llu", msg->cloud.header.stamp.sec, msg->cloud.header.stamp.nsec, timestamp);
static int countR = 0;
countR++;
......@@ -366,7 +366,7 @@ void TrackingRos::TrackingCallBackFunc(const jfx_common_msgs::det_tracking_array
countBeginR = GetCurTime();
if (GetCurTime() - countBeginR > 3000 * 1000)
{
SDK_LOG(SDK_INFO, "recv lisar msg count = %d, average rate = %f", countR, (float)countR/3);
//SDK_LOG(SDK_INFO, "recv lisar msg count = %d, average rate = %f", countR, (float)countR/3);
countBeginR = GetCurTime();
countR = 0;
}
......@@ -401,14 +401,14 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
}
unsigned long long timestamp = (unsigned long long)msg->header.stamp.sec * 1000 + (unsigned long long)msg->header.stamp.nsec * 1e-6;
SDK_LOG(SDK_INFO, "msg msg->header.stamp.sec = %d,msg->header.stamp.nsec = %d time = %llu", msg->header.stamp.sec, msg->header.stamp.nsec, timestamp);
//SDK_LOG(SDK_INFO, "msg msg->header.stamp.sec = %d,msg->header.stamp.nsec = %d time = %llu", msg->header.stamp.sec, msg->header.stamp.nsec, timestamp);
objTrackListPtr cloudPtr = GetNearestCloudMsg(timestamp);
if (cloudPtr)
{
timestamp = (unsigned long long)cloudPtr->cloud.header.stamp.sec * 1000000 + (unsigned long long)cloudPtr->cloud.header.stamp.nsec * 1e-3;
SDK_LOG(SDK_INFO, "cloudPtr time = %llu", timestamp);
SDK_LOG(SDK_INFO, "cloudPtr push size = %d", cloudPtr->array.size());
//SDK_LOG(SDK_INFO, "cloudPtr time = %llu", timestamp);
//SDK_LOG(SDK_INFO, "cloudPtr push size = %d", cloudPtr->array.size());
}
objTrackListPtr objsPtr = std::make_shared<jfx_common_msgs::det_tracking_array>();
if (cloudPtr)
......@@ -433,7 +433,7 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
continue;
objsPtr->array.push_back(obj);
}
SDK_LOG(SDK_INFO, "camera msg [0] size = %d,[1] = %d,[2] = %d",msg->reses[0].results.size(), msg->reses[1].results.size(), msg->reses[2].results.size());
//SDK_LOG(SDK_INFO, "camera msg [0] size = %d,[1] = %d,[2] = %d",msg->reses[0].results.size(), msg->reses[1].results.size(), msg->reses[2].results.size());
for (int i = 0; i < 3; i++)
{
if (msg->reses[i].results.size() > 0)
......@@ -536,7 +536,7 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
}
}
SDK_LOG(SDK_INFO, "m_objsQueue push size = %d", objsPtr->array.size());
//SDK_LOG(SDK_INFO, "m_objsQueue push size = %d", objsPtr->array.size());
m_objsQueue.push(objsPtr);
if(cloudPtr)
m_pubCloud.publish(cloudPtr->cloud);
......
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