提交代码

BaseTracker/BaseTracker.h

@@ -159,13 +159,30 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
                 tracker_states.emplace_back(measure);
             }
         }
-        int detect_size = detections.size() * (detections.size() > 0 ? detections[0].size() : 0);
-        int tracker_size = tracker_states.size() * (tracker_states.size() > 0 ? tracker_states[0].size() : 0);
+        int measure_size = detections.size() > 0 ? detections[0].size() : 0;
+        int tra_size = tracker_states.size() > 0 ? tracker_states[0].size() : 0;
+        if (measure_size == 0 || measure_size != tra_size)
+            return;
+        int detect_size = detections.size() * measure_size;
+        int tracker_size = tracker_states.size() * tra_size;
         int iou_size = detections.size() * tracker_states.size();
         std::shared_ptr<float> detect_ptr = std::shared_ptr<float>(new float[detect_size], [](float* p) {if (p) delete[] p; p = nullptr; });
         std::shared_ptr<float> tracker_ptr = std::shared_ptr<float>(new float[tracker_size], [](float* p) {if (p) delete[] p; p = nullptr; });
         std::shared_ptr<float> iou_ptr = std::shared_ptr<float>(new float[iou_size], [](float* p) {if (p) delete[] p; p = nullptr; });
-
+        for (int i = 0; i < detections.size(); i++)
+        {
+            for (int j = 0; j < measure_size; j++)
+            {
+                detect_ptr.get()[i * measure_size + j] = detections[i][j];
+            }
+        }
+        for (int i = 0; i < tracker_states.size(); i++)
+        {
+            for (int j = 0; j < tra_size; j++)
+            {
+                tracker_ptr.get()[i * tra_size + j] = tracker_states[i][j];
+            }
+        }
         ////bev_overlap(detections.size(), detect_ptr.get(), tracker_states.size(), tracker_ptr.get(), iou_ptr.get());
         for(int i = 0; i < detections.size(); i++)
             for (int j = 0; j < tracker_states.size(); j++)