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BaseTracker/BaseTracker.h

@@ -108,9 +108,15 @@ 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);
+        SDK_LOG(SDK_INFO, "X = [%s]", GetMatrixStr(X.get(), ns, bs);
+        SDK_LOG(SDK_INFO, "P = [%s]", GetMatrixStr(P.get(), ns*ns, bs);
+        SDK_LOG(SDK_INFO, "HX = [%s]", GetMatrixStr(HX.get(),no,bs);
 #ifdef _KF_IOU_CUDA_
         kalman_update_batch(Z.get(), X.get(), P.get(), HX.get(), bs, ns, no);
 #endif
+        SDK_LOG(SDK_INFO, "after X = [%s]", GetMatrixStr(X.get(), ns, bs);
+        SDK_LOG(SDK_INFO, "after P = [%s]", GetMatrixStr(P.get(), ns * ns, bs);
     }
 
     /*** Create new tracks for unmatched detections ***/

common/Component.cpp

@@ -41,3 +41,18 @@ std::string GetMatrixStr(const std::vector<std::vector<float>>& data_ptr, int co
     }
     return str;
 }
+
+std::string GetMatrixStr(float** data_ptr, int col, int row)
+{
+    std::string str;
+    for (int i = 0; i < row; i++)
+    {
+        for (int j = 0; j < col; j++)
+        {
+            char log[128] = {};
+            sprintf(log, "%f,", data_ptr[i][j]);
+            str += log;
+        }
+    }
+    return str;
+}

common/Component.h

@@ -7,3 +7,4 @@ uint64_t GetCurTime();
 
 std::string GetMatrixStr(const float* data_ptr, int col, int row);
 std::string GetMatrixStr(const std::vector<std::vector<float>>& data_ptr, int col, int row);
+std::string GetMatrixStr(float** data_ptr, int col, int row);