提交gpu没有更新变量的问题

BaseTracker/BaseTrack.cpp

@@ -48,6 +48,16 @@ void BaseTrack::Update(const std::vector<float>& data)
         observation(i) = data[i];
     kf_->Update(observation);
 }
+void BaseTrack::UpdateHit()
+{
+    if (kf_ == nullptr)
+        return;
+    // get measurement update, reset coast cycle count
+    coast_cycles_ = 0;
+    // accumulate hit streak count
+    hit_streak_++;
+}
+
 int BaseTrack::GetStateData(std::vector<float>& data)
 {
     if (kf_ == nullptr)

BaseTracker/BaseTrack.h

@@ -18,6 +18,7 @@ public:
     virtual void Init(const std::vector<float>& data);
     virtual void Predict();
     virtual void Update(const std::vector<float>& data);
+    virtual void UpdateHit();
     virtual int GetStateData(std::vector<float>& data);
     virtual float GetNIS() const;
     virtual float GetProb() const;

BaseTracker/BaseTracker.h

@@ -105,6 +105,7 @@ int BaseTracker<T>::Run(const std::vector<std::vector<float> >& detections, std:
                 ns = m_tracker[id]->GetStatesNum();
             }
             bs_i++;
+            m_tracker[id]->UpdateHit();//gpu时需要update里面的变量
             detectionsId[match.second] = id;
             updateId[id] = match.second;
         }