Function configCb

tracking/apps/tracker_node.cpp:560–597

}

void
configCb(Config &config, uint32_t level)
{
  tracker->setMinConfidenceForTrackInitialization (config.min_confidence_initialization);
  max_detection_delay = config.max_detection_delay;
  calibration_refinement = config.calibration_refinement;
  tracker->setSecBeforeOld (config.sec_before_old);
  tracker->setSecBeforeFake (config.sec_before_fake);
  tracker->setSecRemainNew (config.sec_remain_new);
  tracker->setDetectionsToValidate (config.detections_to_validate);
  tracker->setDetectorLikelihood (config.detector_likelihood);
  tracker->setLikelihoodWeights (config.detector_weight*chi_map[0.999]/18.467, config.motion_weight);

//  if (config.velocity_in_motion_term != velocity_in_motion_term)
//  {
//    // Take chi square values with regards to the state dimension:
//    fillChiMap(chi_map, config.velocity_in_motion_term);
//
//    double position_variance = config.position_variance_weight*std::pow(2 * voxel_size, 2) / 12.0;
//    tracker->setVelocityInMotionTerm (config.velocity_in_motion_term, config.acceleration_variance, position_variance);
//  }
//  else
//  {
    if (config.acceleration_variance != acceleration_variance)
    {
      tracker->setAccelerationVariance (config.acceleration_variance);
    }

    if (config.position_variance_weight != position_variance_weight)
    {
      double position_variance = config.position_variance_weight*std::pow(2 * voxel_size, 2) / 12.0;
      tracker->setPositionVariance (position_variance);
    }
//  }

  gate_distance = chi_map.find(config.gate_distance_probability) != chi_map.end() ? chi_map[config.gate_distance_probability] : chi_map[0.999];
  tracker->setGateDistance (config.gate_distance_probability);
}

int
main(int argc, char** argv)