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BaseTracker/kf_gup/kalman_update_batch_online.cu

@@ -309,19 +309,19 @@ void map_kalman_update_batch( 	pybind11::array_t<float> Z,
 
   MAKE SURE ALL INPUTS ARE TWO-DIM NUMPY ARRAY
   */
-void kalman_update_batch(pybind11::array_t<float> Z,
-	pybind11::array_t<float> X,     // in-place update
-	pybind11::array_t<float> P,     // in-place update
-	pybind11::array_t<float> HX,
+void kalman_update_batch(float** Z,
+	float** X,     // in-place update
+	float** P,     // in-place update
+	float** HX,
 	const int bs,
 	const int ns,
 	const int no
 ) {
 
-	pybind11::buffer_info ZZ = Z.request();
-	pybind11::buffer_info XX = X.request();
-	pybind11::buffer_info PP = P.request();
-	pybind11::buffer_info HXX = HX.request();
+	//pybind11::buffer_info ZZ = Z.request();
+	//pybind11::buffer_info XX = X.request();
+	//pybind11::buffer_info PP = P.request();
+	//pybind11::buffer_info HXX = HX.request();
 
 	int size_ZZ = ZZ.shape[0] * ZZ.shape[1] * sizeof(float);
 	int size_XX = XX.shape[0] * XX.shape[1] * sizeof(float);

TrackingRos.cpp

@@ -57,6 +57,7 @@ void TrackingRos::Init(ros::NodeHandle& nh)
     mat(1, 1) = 0.4f;
 
     float* f = mat.data();
+    f[3] = 0.5f;
 
     float m[4];
     memcpy(m, f, sizeof(float) * 4);