提交代码

BaseTracker/BaseTracker.h

@@ -12,8 +12,8 @@
 #include "LogBase.h"
 #include <memory.h>
 #ifdef _KF_IOU_CUDA_
-#include "bev_overlap_online.cu"
-#include "kalman_update_batch_online.cu"
+#include "bev_overlap_online.cuh"
+#include "kalman_update_batch_online.cuh"
 #endif
 
 template<class T>

BaseTracker/kf_gpu/bev_overlap_online.cu

@@ -5,7 +5,7 @@
 //#include <pybind11/stl.h>
 
 #include "common.h"
-
+#include "bev_overlap_online.cuh"
 #include <cmath>
 #include <fstream>
 #define ROS

BaseTracker/kf_gpu/bev_overlap_online.cuh

+#ifndef _BEV_OVERLAP_ONLINE_H_
+#define _BEV_OVERLAP_ONLINE_H_
+
+#include <cassert>
+#include <cuda_runtime_api.h>
+
+
+
+void bev_overlap(const int num_a, float* boxes_a, const int num_b, float* boxes_b, float* ans_overlap);
+
+
+#endif
\ No newline at end of file

BaseTracker/kf_gpu/kalman_update_batch_online.cu

@@ -10,6 +10,7 @@
 //#include <pybind11/numpy.h>
 //#include <pybind11/stl.h>
 
+#include "kalman_update_batch_online.cuh"
 #include "kalman_batch_ops.cu"
 #include "common.h"
 

BaseTracker/kf_gpu/kalman_update_batch_online.cuh

+#ifndef _KALMAN_UPDATE_BATCH_ONLINE_H_
+#define _KALMAN_UPDATE_BATCH_ONLINE_H_
+
+#include <cassert>
+#include <cuda_runtime_api.h>
+
+void kalman_update_batch(float* Z,// measurement size = bs * no
+	float** X,     // in-place update states  size = bs * ns
+	float** P,     // in-place update predict size = bs * ns * ns
+	float* HX,	   // H*X  size = bs * no
+	const int bs,
+	const int ns,  //ns = 10
+	const int no   // no = 7
+);
+
+
+#endif