提交cuda宏

BaseTracker/BaseTracker.h

@@ -11,8 +11,10 @@
 #include "Iou.h"
 #include "LogBase.h"
 #include <memory.h>
-//#include "bev_overlap_online.h"
-//#include "kalman_update_batch_online.h"
+#ifdef _KF_IOU_CUDA_
+#include "bev_overlap_online.h"
+#include "kalman_update_batch_online.h"
+#endif
 
 template<class T>
 class BaseTracker
@@ -105,7 +107,9 @@ int BaseTracker<T>::Run(const std::vector<std::vector<float> >& detections, std:
             detectionsId[match.second] = id;
             updateId[id] = match.second;
         }
-        //kalman_update_batch(Z.get(), X.get(), P.get(), HX.get(), bs, ns, no);
+#ifdef _KF_IOU_CUDA_
+        kalman_update_batch(Z.get(), X.get(), P.get(), HX.get(), bs, ns, no);
+#endif
     }
 
     /*** Create new tracks for unmatched detections ***/
@@ -211,7 +215,9 @@ void BaseTracker<T>::AssociateDetectionsToTrackers(const std::vector<std::vector
                 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());
+#ifdef _KF_IOU_CUDA_
+        bev_overlap(detections.size(), detect_ptr.get(), tracker_states.size(), tracker_ptr.get(), iou_ptr.get());
+#endif
         for(int i = 0; i < detections.size(); i++)
             for (int j = 0; j < tracker_states.size(); j++)
             {