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jfx_kalman_filter_src
Commit 39e17709 authored by oscar's avatar oscar
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提交测试

parent 30f70cc6
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Showing with 23 additions and 23 deletions
BaseTracker/BaseTracker.h
View file @ 39e17709
......@@ -150,29 +150,29 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
}
else
{
std::vector<std::vector<float> > tracker_states;
for (auto& iter : tracks)
{
std::vector<float> measure;
if (iter.second->GetMeasureData(measure) == 0)
{
tracker_states.emplace_back(measure);
}
}
int detect_size = detections.size() * (detections.size() > 0 ? detections[0].size() : 0);
int tracker_size = tracker_states.size() * (tracker_states.size() > 0 ? tracker_states[0].size() : 0);
int iou_size = detections.size() * tracker_states.size();
std::shared_ptr<float> detect_ptr = std::make_shared<float>(new float[detect_size]);
std::shared_ptr<float> tracker_ptr = std::make_shared<float>(new float[tracker_size]);
std::shared_ptr<float> iou_ptr = std::make_shared<float>(new float[iou_size]);
//bev_overlap(detections.size(), detect_ptr.get(), tracker_states.size(), tracker_ptr.get(), iou_ptr.get());
for(int i = 0; i < detections.size(); i++)
for (int j = 0; j < tracker_states.size(); j++)
{
float* i_ptr = iou_ptr.get();
iou_matrix[i][j] = i_ptr[i * tracker_states.size() + j];
}
//std::vector<std::vector<float> > tracker_states;
//for (auto& iter : tracks)
//{
// std::vector<float> measure;
// if (iter.second->GetMeasureData(measure) == 0)
// {
// tracker_states.emplace_back(measure);
// }
//}
//int detect_size = detections.size() * (detections.size() > 0 ? detections[0].size() : 0);
//int tracker_size = tracker_states.size() * (tracker_states.size() > 0 ? tracker_states[0].size() : 0);
//int iou_size = detections.size() * tracker_states.size();
//std::shared_ptr<float> detect_ptr = std::make_shared<float>(new float[detect_size]);
//std::shared_ptr<float> tracker_ptr = std::make_shared<float>(new float[tracker_size]);
//std::shared_ptr<float> iou_ptr = std::make_shared<float>(new float[iou_size]);
////bev_overlap(detections.size(), detect_ptr.get(), tracker_states.size(), tracker_ptr.get(), iou_ptr.get());
//for(int i = 0; i < detections.size(); i++)
// for (int j = 0; j < tracker_states.size(); j++)
// {
// float* i_ptr = iou_ptr.get();
// iou_matrix[i][j] = i_ptr[i * tracker_states.size() + j];
// }
}
// Find association
......
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