添加打印

BaseTracker/BaseTracker.h

@@ -123,15 +123,16 @@ 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, "R = [%s]", GetMatrixStr(R.get(), no, no).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(), R.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 ***/

TrackingRos.cpp

@@ -294,7 +294,7 @@ void TrackingRos::ThreadTrackingProcess()
         if (ret)
         {
             m_frameNum++;
-            //SDK_LOG(SDK_INFO, "get objs size = %d",objsPtr->array.size());
+            SDK_LOG(SDK_INFO, "get objs size = %d,m_frameNum = %d",objsPtr->array.size(), m_frameNum);
             std::vector< std::vector<float> > input;
             for (int i = 0; i < objsPtr->array.size(); i++)
             {