提交代码

BaseTracker/BaseTracker.h

@@ -162,17 +162,17 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
         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 iou_size = detections.size() * tracker_states.size();
-        std::shared_ptr<float> detect_ptr = std::make_shared<float>(new float[detect_size]);
-        std::shared_ptr<float> tracker_ptr = std::make_shared<float>(new float[tracker_size]);
-        std::shared_ptr<float> iou_ptr = std::make_shared<float>(new float[iou_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; });
 
         ////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++)
-        //    {
-        //        float* i_ptr = iou_ptr.get();
-        //        iou_matrix[i][j] = i_ptr[i * tracker_states.size() + j];
-        //    }
+        for(int i = 0; i < detections.size(); i++)
+            for (int j = 0; j < tracker_states.size(); j++)
+            {
+                float* i_ptr = iou_ptr.get();
+                iou_matrix[i][j] = i_ptr[i * tracker_states.size() + j];
+            }
     }
 
     // Find association