update

ros2/Track3DEx.cpp

 
 #include "Track3DEx.h"
-
+#include <eigen3/Eigen/Dense>
+#include "Iou.h"
+#include "Component.h"
+#include <opencv2/opencv.hpp>
+#include <algorithm>
 
 void Track3DEx::Init(const std::vector<float>& data)
 {
@@ -20,13 +24,13 @@ void Track3DEx::UpdateDataCheck(const std::vector<float>& data, std::vector<floa
         return;
     if (data.size() != 11)
     {
-        SDK_LOG(SDK_INFO, "UpdateDataCheck data size is not 11");
+        // SDK_LOG(SDK_INFO, "UpdateDataCheck data size is not 11");
         return;
     }
     std::vector<float> tmp(data.begin() + 1, data.begin() + 8);
     double rot_y = tmp[3];
     int dataSource = data[8];
-    if (dataSource == 1 && m_points.size() >= 5 && (abs(m_points[4].x - m_points[0].x) > DIST_THRED || abs(m_points[4].y - m_points[0].y) > DIST_THRED))
+    if (dataSource == 1 && m_points.size() >= 5 && (abs(m_points[4].x - m_points[0].x) > 0.5 || abs(m_points[4].y - m_points[0].y) > 0.5))
     {
         double center_rot_y = correct_angle(m_points);
         m_center_rot_y = center_rot_y;
@@ -43,7 +47,7 @@ void Track3DEx::UpdateDataCheck(const std::vector<float>& data, std::vector<floa
     }
     else if (dataSource > 1 && m_points.size() >= 5 )
     {
-        if ((abs(m_points[4].x - m_points[0].x) > DIST_THRED || abs(m_points[4].y - m_points[0].y) > DIST_THRED))//5个点首尾有距离差才计算方向
+        if ((abs(m_points[4].x - m_points[0].x) > 0.5 || abs(m_points[4].y - m_points[0].y) > 0.5))//5个点首尾有距离差才计算方向
         {
             double center_rot_y = correct_angle(m_points);
             m_center_rot_y = center_rot_y;
@@ -82,7 +86,7 @@ double Track3DEx::CalculateIou(const std::vector<float>& data)
 {
     if (data.size() != 11)
     {
-        SDK_LOG(SDK_INFO, "CalculateIou data size != 9");
+        // SDK_LOG(SDK_INFO, "CalculateIou data size != 9");
         return 0.0f;
     }
     if (m_obj == nullptr)

ros2/TrackingRos2.cpp

@@ -151,7 +151,7 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
   m_tracking.m_tracker.Run(inputH, 7, 10, detectionsId, updateId,addId, lostId);
   uint64_t rTime = GetCurTime() - begin;
   // SDK_LOG(SDK_INFO, "m_tracker.Run time = %llu", rTime);
-  std::map<uint64_t, std::shared_ptr<Track3D> >& trackers =
+  std::map<uint64_t, std::shared_ptr<Track3DEx> >& trackers =
       m_tracking.m_tracker.GetStates();
   static int count = 0;
   static int calcCount = 0;
@@ -235,7 +235,7 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
       TrackStructObj strObj = {};
       strObj.frame = timestamp;
       strObj.type = input_obj.object.classification[0].label;
-      strObj.dataSource = input_obj.dataSource;
+      strObj.dataSource = input_obj.data_source;
       strObj.cameraId = input_obj.camera_id;
       strObj.trackingId = input_obj.tracking_id;
       strObj.obj = std::make_shared<autoware_auto_perception_msgs::msg::TrackedObject>(obj);