提交代码

BaseTracker/BaseTrack.cpp

@@ -72,3 +72,12 @@ bool BaseTrack::IsLost()
 {
     return coast_cycles_ > m_kMaxCoastCycles;
 }
+int BaseTrack::GetMeasureData(std::vector<float>& data)
+{
+    if (kf_ == nullptr)
+        return -1;
+    data.clear();
+    for (int i = 0; i < m_num_obs; i++)
+        data.push_back(kf_->x_[i]);
+    return 0;
+}

BaseTracker/BaseTrack.h

@@ -23,6 +23,8 @@ public:
     virtual float GetProb() const;
     virtual bool IsLost();
 
+    virtual int GetMeasureData(std::vector<float>& data);
+
     virtual double CalculateIou(const std::vector<float>& data) = 0;
 
     int coast_cycles_ = 0, hit_streak_ = 0;

BaseTracker/BaseTracker.h

@@ -10,6 +10,9 @@
 #include <vector>
 #include "Iou.h"
 #include "LogBase.h"
+#include <memory>
+//#include "bev_overlap_online.h"
+//#include "kalman_update_batch_online.h"
 
 template<class T>
 class BaseTracker
@@ -62,12 +65,19 @@ int BaseTracker<T>::Run(const std::vector<std::vector<float> >& detections, std:
     AssociateDetectionsToTrackers(detections, m_tracker, matched, unmatched_det);
 
     /*** Update tracks with associated bbox ***/
-    for (const auto& match : matched)
+    if (m_isGPU == 0)
+    {
+        for (const auto& match : matched)
+        {
+            const auto& id = match.first;
+            m_tracker[id]->Update(detections[match.second]);
+            detectionsId[match.second] = id;
+            updateId[id] = match.second;
+        }
+    }
+    else
     {
-        const auto& id = match.first;
-        m_tracker[id]->Update(detections[match.second]);
-        detectionsId[match.second] = id;
-        updateId[id] = match.second;
+        std::shared_ptr<float*> Z = std::make_shared<float*>(new (float*)[matched.size()]);
     }
 
     /*** Create new tracks for unmatched detections ***/
@@ -125,17 +135,44 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
     // resize association matrix based on number of detection and tracks
     association.resize(detections.size(), std::vector<float>(tracks.size()));
 
-
-    // row - detection, column - tracks
-    for (size_t i = 0; i < detections.size(); i++)
+    if (m_isGPU == 0)
     {
-        size_t j = 0;
-        for (const auto& trk : tracks)
+        // row - detection, column - tracks
+        for (size_t i = 0; i < detections.size(); i++)
         {
-            iou_matrix[i][j] = trk.second->CalculateIou(detections[i]);
-            j++;
+            size_t j = 0;
+            for (const auto& trk : tracks)
+            {
+                iou_matrix[i][j] = trk.second->CalculateIou(detections[i]);
+                j++;
+            }
         }
     }
+    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++)
+            {
+                iou_matrix[i][j] = iou_ptr[i * tracker_states.size() + j];
+            }
+    }
 
     // Find association
     HungarianMatching(iou_matrix, detections.size(), tracks.size(), association);