提交修改

BaseTracker/BaseTracker.h

@@ -128,7 +128,7 @@ int BaseTracker<T>::Run(const std::vector<std::vector<float> >& detections, int
             //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, "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);
@@ -274,10 +274,10 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
                 tracker_ptr.get()[i * tra_size + j] = tracker_states[i][j];
             }
         }
-        std::string dete_str = GetMatrixStr(detect_ptr.get(), measure_size, detections.size());
-        std::string track_str = GetMatrixStr(tracker_states, tracker_states.size(), tra_size);
-        SDK_LOG(SDK_INFO, "detections = [%s]",dete_str.c_str());
-        SDK_LOG(SDK_INFO, "tracker_states = [%s]", track_str.c_str());
+        //std::string dete_str = GetMatrixStr(detect_ptr.get(), measure_size, detections.size());
+        //std::string track_str = GetMatrixStr(tracker_states, tracker_states.size(), tra_size);
+        //SDK_LOG(SDK_INFO, "detections = [%s]",dete_str.c_str());
+        //SDK_LOG(SDK_INFO, "tracker_states = [%s]", track_str.c_str());
 #ifdef _KF_IOU_CUDA_
         bev_overlap(detections.size(), detect_ptr.get(), tracker_states.size(), tracker_ptr.get(), iou_ptr.get());
 #endif
@@ -285,7 +285,7 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
             for (int j = 0; j < tracker_states.size(); j++)
             {
                 float* i_ptr = iou_ptr.get();
-                if (1)//det_type[i] == tracker_type[j])
+                if (det_type[i] == tracker_type[j])
                 {
                     iou_matrix[i][j] = i_ptr[i * tracker_states.size() + j];
                 }
@@ -297,8 +297,8 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
     }
 
     // Find association
-    std::string str = GetMatrixStr(iou_matrix, detections.size(), tracks.size());
-    SDK_LOG(SDK_INFO, "iou_matrix = [%s]",str.c_str());
+    //std::string str = GetMatrixStr(iou_matrix, detections.size(), tracks.size());
+    //SDK_LOG(SDK_INFO, "iou_matrix = [%s]",str.c_str());
     HungarianMatching(iou_matrix, detections.size(), tracks.size(), association);
 
     for (size_t i = 0; i < detections.size(); i++)

TrackingRos.cpp

@@ -350,7 +350,7 @@ void TrackingRos::ThreadTrackingProcess()
                     obj = objsPtr->array[updateId[iter.first]];
                     input_obj = obj;
                     std::vector<float> data;
-                    if (/*iter.second->IsValid() && */ iter.second->GetStateData(data) == 0)
+                    if (iter.second->IsValid() && iter.second->GetStateData(data) == 0)
                     {
                         is_need_send = 1;//需要发送
                         obj.x = data[0];
@@ -381,7 +381,7 @@ void TrackingRos::ThreadTrackingProcess()
                     if(iter.second->m_obj)
                         obj = *(iter.second->m_obj);
                     std::vector<float> data;
-                    if (/*iter.second->IsValid() &&*/ iter.second->GetStateData(data) == 0)
+                    if (iter.second->IsValid() && iter.second->GetStateData(data) == 0)
                     {
                         is_need_send = 1;//需要发送
                         obj.x = data[0];