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BaseTracker/BaseTracker.h

@@ -11,6 +11,7 @@
 #include "Iou.h"
 #include "LogBase.h"
 #include <memory.h>
+#include "Component.h"
 #ifdef _KF_IOU_CUDA_
 #include "bev_overlap_online.h"
 #include "kalman_update_batch_online.h"
@@ -215,6 +216,10 @@ 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_ptr.get(), tra_size, tracker_states.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
@@ -227,16 +232,7 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
     }
 
     // Find association
-    std::string str;
-    for (int i = 0; i < detections.size(); i++)
-    {
-        for (int j = 0; j < tracks.size(); j++)
-        {
-            char log[128] = {};
-            sprintf(log, "%f,", iou_matrix[i][j]);
-            str += log;
-        }
-    }
+    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);
 

common/Component.cpp

@@ -10,4 +10,34 @@ uint64_t GetCurTime()
     uint64_t seconds = time.tv_sec;
     uint64_t ttt = seconds * 1000 * 1000 + time.tv_usec;
     return ttt;
-}
\ No newline at end of file
+}
+
+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;
+}
+
+std::string GetMatrixStr(std::vector<std::vector<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

 #pragma once
 
 #include <string>
-
+#include <vector>
 
 uint64_t GetCurTime();
+
+std::string GetMatrixStr(float* data_ptr, int col, int row);
+std::string GetMatrixStr(std::vector<std::vector<float>>& data_ptr, int col, int row);