提交更新

src/BaseTracker/Track2D.cpp

@@ -45,9 +45,27 @@ Track2D::Track2D():BaseTrack(8, 4)
     kf_ = kf;
 }
 
+void Track2D::Init(const std::vector<float>& data)
+{
+    if (data.size() != 5)
+        return;
+    std::vector<float> tmp(data.begin() + 1, data.end());
+    BaseTrack::Init(tmp);
+}
+void Track2D::Update(const std::vector<float>& data)
+{
+    std::vector<float> out(data.begin() + 1, data.end());
+    BaseTrack::Update(out);
+}
 
 double Track2D::CalculateIou(const std::vector<float>& data)
 {
+    if (data.size() != 5)
+        return 0;
+    int input_type = data[0];
+    int obj_type = m_obj.type;
+    if (input_type != obj_type)
+        return 0.0f;
     std::vector<float> states;
     GetStateData(states);
 
@@ -65,11 +83,11 @@ double Track2D::CalculateIou(const std::vector<float>& data)
     //float union_area = det_area + trk_area - intersection_area;
     //auto iou = intersection_area / union_area;
 
-    auto w = std::max(std::min((states[0] + states[2]), (data[0] + data[2])) - std::max(states[0], data[0]), 0.0f);
-    auto h = std::max(std::min((states[1] + states[3]), (data[1] + data[3])) - std::max(states[1], data[1]), 0.0f);
+    auto w = std::max(std::min((states[0] + states[2]), (data[1] + data[3])) - std::max(states[0], data[1]), 0.0f);
+    auto h = std::max(std::min((states[1] + states[3]), (data[2] + data[4])) - std::max(states[1], data[2]), 0.0f);
 
     auto intersection_area = w * h;
-    float union_area = states[2] * states[3] + data[2] * data[3] - intersection_area;
+    float union_area = states[2] * states[3] + data[3] * data[4] - intersection_area;
     auto iou = intersection_area / union_area;
 	return iou;
 }

src/BaseTracker/Track2D.h

@@ -19,6 +19,8 @@ public:
     Track2D();
     ~Track2D() {}
 
+    virtual void Init(const std::vector<float>& data);
+    virtual void Update(const std::vector<float>& data);
     //trackOjbPtr m_obj = nullptr;
 
     virtual int GetIouDataOrder(std::vector<int>& order) { return 0; };

src/track.h

@@ -238,6 +238,7 @@ public:
                 std::vector<float> data;
                 auto width = static_cast<float>(trackItem.detections[i].width);
                 auto height = static_cast<float>(trackItem.detections[i].height);
+                data.push_back(item.type);
                 data.push_back(trackItem.detections[i].x + trackItem.detections[i].width/2);
                 data.push_back(trackItem.detections[i].y + trackItem.detections[i].height/2);
                 data.push_back(width);