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jfx_kalman_filter_src
Commit 43e16408 authored by oscar's avatar oscar
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parent 355516bc
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Showing with 30 additions and 30 deletions
BaseTracker/BaseTracker.h
View file @ 43e16408
......@@ -108,15 +108,15 @@ int BaseTracker<T>::Run(const std::vector<std::vector<float> >& detections, std:
detectionsId[match.second] = id;
updateId[id] = match.second;
}
SDK_LOG(SDK_INFO, "Z = [%s]", GetMatrixStr(Z.get(), no, bs).c_str());
SDK_LOG(SDK_INFO, "X = [%s]", GetMatrixStr(X.get(), ns, bs).c_str());
SDK_LOG(SDK_INFO, "P = [%s]", GetMatrixStr(P.get(), ns*ns, bs).c_str());
SDK_LOG(SDK_INFO, "HX = [%s]", GetMatrixStr(HX.get(),no,bs).c_str());
//SDK_LOG(SDK_INFO, "Z = [%s]", GetMatrixStr(Z.get(), no, bs).c_str());
//SDK_LOG(SDK_INFO, "X = [%s]", GetMatrixStr(X.get(), ns, bs).c_str());
//SDK_LOG(SDK_INFO, "P = [%s]", GetMatrixStr(P.get(), ns*ns, bs).c_str());
//SDK_LOG(SDK_INFO, "HX = [%s]", GetMatrixStr(HX.get(),no,bs).c_str());
#ifdef _KF_IOU_CUDA_
kalman_update_batch(Z.get(), X.get(), P.get(), HX.get(), bs, ns, no);
#endif
SDK_LOG(SDK_INFO, "after X = [%s]", GetMatrixStr(X.get(), ns, bs).c_str());
SDK_LOG(SDK_INFO, "after P = [%s]", GetMatrixStr(P.get(), ns * ns, bs).c_str());
//SDK_LOG(SDK_INFO, "after X = [%s]", GetMatrixStr(X.get(), ns, bs).c_str());
//SDK_LOG(SDK_INFO, "after P = [%s]", GetMatrixStr(P.get(), ns * ns, bs).c_str());
}
/*** Create new tracks for unmatched detections ***/
......@@ -186,23 +186,23 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
j++;
}
}
std::string dete_str = GetMatrixStr(detections, detections.size(), detections.size() > 0 ? detections[0].size() : 0);
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);
}
else
{
SDK_LOG(SDK_INFO, "GetMeasureData failed");
}
}
std::string track_str = GetMatrixStr(tracker_states, tracker_states.size(), tracker_states.size() > 0 ? tracker_states[0].size() : 0);
SDK_LOG(SDK_INFO, "detections = [%s]", dete_str.c_str());
SDK_LOG(SDK_INFO, "tracker_states = [%s]", track_str.c_str());
//std::string dete_str = GetMatrixStr(detections, detections.size(), detections.size() > 0 ? detections[0].size() : 0);
//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);
// }
// else
// {
// SDK_LOG(SDK_INFO, "GetMeasureData failed");
// }
//}
//std::string track_str = GetMatrixStr(tracker_states, tracker_states.size(), tracker_states.size() > 0 ? tracker_states[0].size() : 0);
//SDK_LOG(SDK_INFO, "detections = [%s]", dete_str.c_str());
//SDK_LOG(SDK_INFO, "tracker_states = [%s]", track_str.c_str());
}
else
{
......@@ -243,11 +243,11 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
tracker_ptr.get()[i * tra_size + j] = tracker_states[i][j];
}
}
std::string dete_str = GetMatrixStr(detect_ptr.get(), measure_size, detections.size());
//std::string track_str = GetMatrixStr(tracker_ptr.get(), tra_size, tracker_states.size());
std::string track_str = GetMatrixStr(tracker_states, tracker_states.size(), tra_size);
SDK_LOG(SDK_INFO, "detections = [%s]",dete_str.c_str());
SDK_LOG(SDK_INFO, "tracker_states = [%s]", track_str.c_str());
//std::string dete_str = GetMatrixStr(detect_ptr.get(), measure_size, detections.size());
////std::string track_str = GetMatrixStr(tracker_ptr.get(), tra_size, tracker_states.size());
//std::string track_str = GetMatrixStr(tracker_states, tracker_states.size(), tra_size);
//SDK_LOG(SDK_INFO, "detections = [%s]",dete_str.c_str());
//SDK_LOG(SDK_INFO, "tracker_states = [%s]", track_str.c_str());
#ifdef _KF_IOU_CUDA_
bev_overlap(detections.size(), detect_ptr.get(), tracker_states.size(), tracker_ptr.get(), iou_ptr.get());
#endif
......@@ -260,8 +260,8 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
}
// Find association
std::string str = GetMatrixStr(iou_matrix, detections.size(), tracks.size());
SDK_LOG(SDK_INFO, "iou_matrix = [%s]",str.c_str());
//std::string str = GetMatrixStr(iou_matrix, detections.size(), tracks.size());
//SDK_LOG(SDK_INFO, "iou_matrix = [%s]",str.c_str());
HungarianMatching(iou_matrix, detections.size(), tracks.size(), association);
for (size_t i = 0; i < detections.size(); i++)
......
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