修改nsight打印

BaseTracker/BaseTracker.h

@@ -149,7 +149,13 @@ int BaseTracker<T>::Run(const std::vector<std::vector<float> >& detections, int
             //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_
+#ifdef _USING_NSIGHT_
+            nvtxRangePush("kalman_update_batch");
+#endif
             kalman_update_batch(Z.get(), X.get(), P.get(), R.get(), HX.get(), bs, ns, no);
+#ifdef _USING_NSIGHT_
+            nvtxRangePop();
+#endif
 #endif
             //SDK_LOG(SDK_INFO, "after X = [%s]", GetMatrixStr(X.get(), ns, bs).c_str());
             //SDK_LOG(SDK_INFO, "after P = [%s]", GetMatrixStr(P.get(), ns * ns, bs).c_str());
@@ -299,7 +305,13 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
         //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_
+#ifdef _USING_NSIGHT_
+        nvtxRangePush("bev_overlap");
+#endif
         bev_overlap(detections.size(), detect_ptr.get(), tracker_states.size(), tracker_ptr.get(), iou_ptr.get());
+#ifdef _USING_NSIGHT_
+        nvtxRangePop();
+#endif
 #endif
         for(int i = 0; i < detections.size(); i++)
             for (int j = 0; j < tracker_states.size(); j++)