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jfx_kalman_filter_src
Commit e3104405 authored by oscar's avatar oscar
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parent 99df680b
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Showing with 9 additions and 9 deletions
BaseTracker/BaseTracker.h
View file @ e3104405
......@@ -116,23 +116,23 @@ int BaseTracker<T>::Run(const std::vector<std::vector<float> >& detections, std:
{
ns = m_tracker[id]->GetStatesNum();
float* _r = m_tracker[id]->GetRPtr();
memcpy(R.get(), _r, sizeof(no * no * sizeof(float)));
memcpy(R.get(), _r, no*no*sizeof(float));
}
bs_i++;
m_tracker[id]->UpdateHit();//gpu时需要update里面的变量
detectionsId[match.second] = id;
updateId[id] = match.second;
}
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, "HX = [%s]", GetMatrixStr(HX.get(),no,bs).c_str());
//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, "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);
#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());
//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());
}
/*** Create new tracks for unmatched detections ***/
......
TrackingRos.cpp
View file @ e3104405
......@@ -294,7 +294,7 @@ void TrackingRos::ThreadTrackingProcess()
if (ret)
{
m_frameNum++;
SDK_LOG(SDK_INFO, "get objs size = %d,m_frameNum = %d",objsPtr->array.size(), m_frameNum);
//SDK_LOG(SDK_INFO, "get objs size = %d,m_frameNum = %d",objsPtr->array.size(), m_frameNum);
std::vector< std::vector<float> > input;
for (int i = 0; i < objsPtr->array.size(); i++)
{
......
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