修正跟踪

Hu Chunming
1 parent 97743cec
Showing 3 changed files with 10 additions and 19 deletions
vehicle_structure_platform.git0708-3080-trt-face/src/VPT/VPTProcess.cpp
vehicle_structure_platform.git0708-3080-trt-face/src/VPT/VPTProcess.h
vehicle_structure_platform.git0708-3080-trt-face/src/VPT/snapshot_analysis/snapshot_helper.cpp
@@ -251,39 +251,31 @@ int VPTProcess::process(sy_img * batch_img, int batchsize, vector&lt;unsigned long 
 		}
 	}
  
-	for (int i = 0; i < batchsize; i++){
-		TaskTracker& task_tracker = taskTrackers[i];
+	for (int i = 0; i < batchsize; i++) {
+		TaskTracker& task_tracker = tools->taskTrackers[i];
 		if (!task_tracker.tracker.GetState()) {
 			continue;
 		}
  
-		if (task_tracker.lastFrameIndex <= 0) {
-			// 第一帧，只做带检测框的跟踪
-			int objCount = task_tracker.tracker.update(task_tracker.ratioWidth, task_tracker.ratioHeight, true, detectResult[i], result[i].obj, deleteObjectID[i]);
-			result[i].objCount = objCount;
-		} else {
+		if (task_tracker.lastFrameIndex > 0) {
+			// 非第一帧
 			int update_times = vec_frameIndex[i] - task_tracker.lastFrameIndex - 1;
 			if (update_times < 0) {
 				cout << "FrameIndex error !! lastFrameIndex= " << task_tracker.lastFrameIndex << " cur_frameindex = " << vec_frameIndex[i] << endl;
 			}
-			// cout << "lastFrameIndex= " << task_tracker.lastFrameIndex << " cur_frameindex = " << vec_frameIndex[detectIndex] << endl;
-			// cout << "update_times = " << update_times << endl;
  
 			for (int j = 0; j < update_times; j++) { // 无检测框跟踪
-				//cout << "taskTrackers size: " << task_tracker.size() << "  batchsize:" << detectResult.size() << "  update_times: "<< update_times << endl;
-				task_tracker.lastUnUsedResult.objCount = task_tracker.tracker.update(task_tracker.ratioWidth, task_tracker.ratioHeight, false, task_tracker.lastDetectResult, task_tracker.lastUnUsedResult.obj, task_tracker.lastDeleteObjectID);
+				VPT_Result unresult;
+				unresult.objCount = task_tracker.tracker.update(task_tracker.ratioWidth, task_tracker.ratioHeight, false, task_tracker.lastDetectResult, unresult.obj, task_tracker.lastDeleteObjectID);
+				check_VPT_Result(unresult);
+				unUsedResult[i].push_back(unresult);
 			}
-
-			//有检测框输入的跟踪
-			int objCount = task_tracker.tracker.update(task_tracker.ratioWidth, task_tracker.ratioHeight, true, detectResult[i], result[i].obj, deleteObjectID[i]);
-			result[i].objCount = objCount;
 		}
+		result[i].objCount = task_tracker.tracker.update(task_tracker.ratioWidth, task_tracker.ratioHeight, true, detectResult[i], result[i].obj, deleteObjectID[i]);
  
 		check_VPT_Result(result[i]);
  
 		task_tracker.lastDetectResult = detectResult[i];
-		task_tracker.lastUnUsedResult.objCount = result[i].objCount;
-		memcpy(task_tracker.lastUnUsedResult.obj, result[i].obj, sizeof(VPT_ObjInfo) * MAX_OBJ_COUNT);
 		task_tracker.lastDeleteObjectID = deleteObjectID[i];
  
 		// 记录帧序号
@@ -25,7 +25,6 @@ struct TaskTracker
     unsigned int lastFrameIndex;
  
 	vector< vector <float>> lastDetectResult;
-	VPT_Result lastUnUsedResult;
 	vector<int> lastDeleteObjectID;
 };
  
@@ -1257,7 +1257,7 @@ void snapshot_helper::VehicleRecog_Process(sy_img * batch_img, int batchsize, vr
  
 	if (index_head != 0)
 	{
-		LOG_DEBUG("index_head : {}", index_head);
+		// LOG_DEBUG("index_head : {}", index_head);
 		vehicle_recog_result *vrresult = new vehicle_recog_result[index_head]{};
 		m_vehicle_recognition.process(batch_vehicle_head, index_head, vrresult);