revert & modify memeory lake

src/detection/detection_lidar_PointPillars_MultiHead/detection_lidar_PointPillars_MultiHead.pro

@@ -1,6 +1,6 @@
 QT -= gui
 
-CONFIG += c++14 console
+CONFIG += c++11 console
 CONFIG -= app_bundle
 
 QMAKE_CXXFLAGS += -std=gnu++17
@@ -11,7 +11,7 @@ QMAKE_LFLAGS += -no-pie  -Wl,--no-as-needed
 # depend on your compiler). Please consult the documentation of the
 # deprecated API in order to know how to port your code away from it.
 DEFINES += QT_DEPRECATED_WARNINGS
-DEFINES += DEBUG_SHOW
+
 # You can also make your code fail to compile if you use deprecated APIs.
 # In order to do so, uncomment the following line.
 # You can also select to disable deprecated APIs only up to a certain version of Qt.
@@ -20,11 +20,7 @@ DEFINES += DEBUG_SHOW
 SOURCES += main.cpp \
     pointpillars.cc \
     ../../include/msgtype/object.pb.cc \
-    ../../include/msgtype/objectarray.pb.cc \
-    Tracker/Ctracker.cpp \
-    Tracker/HungarianAlg.cpp \
-    Tracker/Kalman.cpp \
-    Tracker/track.cpp
+    ../../include/msgtype/objectarray.pb.cc
 
 DISTFILES += \
     nms.cu \
@@ -40,16 +36,8 @@ HEADERS += \
     preprocess.h \
     scatter.h \
     ../../include/msgtype/object.pb.h \
-    ../../include/msgtype/objectarray.pb.h \
-    Tracker/Ctracker.h \
-    Tracker/defines.h \
-    Tracker/HungarianAlg.h \
-    Tracker/Kalman.h \
-    Tracker/ShortPathCalculator.h \
-    Tracker/track.h \
-    Tracker/Tracking.hpp
+    ../../include/msgtype/objectarray.pb.h
 
-INCLUDEPATH+=Tracker
 
 CUDA_SOURCES +=  \
     nms.cu \
@@ -176,6 +164,3 @@ unix:LIBS +=  -lpcl_common\
         -lpcl_surface\
         -lpcl_tracking\
         -lpcl_visualization
-
-INCLUDEPATH += /usr/include/opencv4/
-LIBS += /usr/lib/aarch64-linux-gnu/libopencv*.so

src/detection/detection_lidar_PointPillars_MultiHead/main.cpp

@@ -16,7 +16,7 @@
 #include <thread>
 #include "objectarray.pb.h"
 //#include "ivbacktrace.h"
-#include "Tracking.hpp"
+
 iv::Ivfault *gfault = nullptr;
 iv::Ivlog *givlog = nullptr;
 
@@ -30,9 +30,6 @@ const int kOutputNumBoxFeature = 7;
 std::string gstrinput;
 std::string gstroutput;
 
-TrackerSettings settings;
-CTracker tracker(settings);
-bool m_isTrackerInitialized = false;
 
 void PclToArray(
     const pcl::PointCloud<pcl::PointXYZI>::Ptr& in_pcl_pc_ptr,
@@ -162,19 +159,7 @@ void DectectOnePCD(const pcl::PointCloud<pcl::PointXYZI>::Ptr &pc_ptr)
     double timex = pc_ptr->header.stamp;
     timex = timex/1000.0;
     lidarobjvec.set_timestamp(pc_ptr->header.stamp);
-    //---------------------------------------------  init tracker  -------------------------------------------------
-    if (!m_isTrackerInitialized)
-    {
-        m_isTrackerInitialized = InitTracker(tracker);
-        if (!m_isTrackerInitialized)
-        {
-            std::cerr << "Tracker initialize error!!!" << std::endl;
-        }
-    }
-    Tracking(lidarobjvec, tracker);
-//    std::<<"track    end"<<std::endl;
 
-    //--------------------------------------------  end tracking  --------------------------------------------------
     int ntlen;
     std::string out = lidarobjvec.SerializeAsString();
     iv::modulecomm::ModuleSendMsg(gpdetect,out.data(),out.length());
@@ -284,7 +269,7 @@ int main(int argc, char *argv[])
     QCoreApplication a(argc, argv);
 
 //    RegisterIVBackTrace();
-    tracker.setSettings(settings);
+
     gfault = new iv::Ivfault("lidar_pointpillar");
     givlog = new iv::Ivlog("lidar_pointpillar");
 

src/detection/detection_lidar_PointPillars_MultiHead/nms.cu

@@ -490,6 +490,7 @@ void PointPillars::DoInference(const float* in_points_array,
 //        std::cout << setiosflags(ios::left) << setw(14) << Modules[i]  << setw(8)  << Times[i] * 1000 << " ms" << resetiosflags(ios::left) << std::endl;
 //    }
 //    std::cout << "------------------------------------" << std::endl;
+
     GPU_CHECK(cudaFree(dev_points));
     cudaStreamDestroy(stream);