提交gpu文件

BaseTracker/kf_gup/bev_overlap_online.cu → BaseTracker/kf_gpu/bev_overlap_online.cu

@@ -374,7 +374,8 @@ void map_bev_overlap(const int num_a, pybind11::array_t<float> boxes_a,const int
     free(b_row_ptr);
 }
 
-void bev_overlap(const int num_a, float* boxes_a, const int num_b, float* boxes_b, float* ans_overlap) {
+void bev_overlap(const int num_a, float* boxes_a, const int num_b, float* boxes_b, float* ans_overlap) 
+{
 
     //pybind11::buffer_info bx_a = boxes_a.request();
     //pybind11::buffer_info bx_b = boxes_b.request();

BaseTracker/kf_gpu/bev_overlap_online.h

+#ifndef _BEV_OVERLAP_ONLINE_H_
+#define _BEV_OVERLAP_ONLINE_H_
+
+
+
+void bev_overlap(const int num_a, float* boxes_a, const int num_b, float* boxes_b, float* ans_overlap);
+
+
+#endif
\ No newline at end of file

BaseTracker/kf_gpu/kalman_update_batch_online.h

+#ifndef _KALMAN_UPDATE_BATCH_ONLINE_H_
+#define _KALMAN_UPDATE_BATCH_ONLINE_H_
+
+
+
+void kalman_update_batch(float** Z,// measurement size = bs * no
+	float** X,     // in-place update states  size = bs * ns
+	float** P,     // in-place update predict size = bs * ns * ns
+	float** HX,	   // H*X  size = bs * no
+	const int bs,
+	const int ns,  //ns = 10
+	const int no   // no = 7
+);
+
+
+
+#endif