提交代码

BaseTracker/Track2D.cpp

@@ -46,12 +46,13 @@ Track2D::Track2D():BaseTrack(8, 4)
 }
 
 
-float Track2D::CalculateIou(std::vector<float>& data)
+float Track2D::CalculateIou(const std::vector<float>& data)
 {
-    //auto trk = track->GetStateAsBbox();
-    //// get min/max points
-    //auto xx1 = std::max(det.tl().x, trk.tl().x);
-    //auto yy1 = std::max(det.tl().y, trk.tl().y);
+    std::vector<float> states;
+    GetStateData(states);
+
+    //auto xx1 = std::max(states[0], data[0]);
+    //auto yy1 = std::max(states[1], data[1]);
     //auto xx2 = std::min(det.br().x, trk.br().x);
     //auto yy2 = std::min(det.br().y, trk.br().y);
     //auto w = std::max(0, xx2 - xx1);

BaseTracker/Track2D.h

@@ -11,5 +11,5 @@ public:
     Track2D();
     ~Track2D() {}
 
-    virtual float CalculateIou(std::vector<float>& data);
+    virtual float CalculateIou(const std::vector<float>& data);
 };

BaseTracker/Track3D.cpp

@@ -64,8 +64,8 @@ double Track3D::CalculateIou(const std::vector<float>& data)
     std::vector<float> states;
     GetStateData(states);
 
-    std::vector<float> truth_poses{ states[0], states[1], states[2],0, 0, states[6], states[3], states[4], states[5] };
-    std::vector<float> landmark_poses{ data[0], data[1], data[2],0, 0, data[6], data[3], data[4], data[5] };
+    std::vector<float> truth_poses{ states[0], states[1], states[2],0, 0, states[6], states[3]/2, states[4]/2, states[5]/2 };
+    std::vector<float> landmark_poses{ data[0], data[1], data[2],0, 0, data[6], data[3]/2, data[4]/2, data[5]/2 };
     double iou_3d = CuboidIoU(truth_poses, landmark_poses);
     return iou_3d;
 }

TrackingRos.cpp

@@ -29,6 +29,8 @@ void TrackingRos::TrackingCallBackFunc(const jfx_common_msgs::det_tracking_array
     objTrackListPtr objsPtr = std::make_shared<jfx_common_msgs::det_tracking_array>();
     objsPtr->array = msg->array;
     objsPtr->cloud = msg->cloud;
+
+    SDK_LOG(SDK_INFO, "recv msg size = %d",msg->array.size());
     //for (auto& item : msg->array)
     //{
     //    objTrackPtr obj = std::make_shared<objTrack>();