Method createDistanceMatrix

tracking/src/skeleton_tracker.cpp:201–246

}

void
SkeletonTracker::createDistanceMatrix()
{
  distance_matrix_ = cv::Mat_<double>(tracks_.size(), detections_.size());
  int track = 0;
  for(std::list<SkeletonTrack*>::const_iterator it = tracks_.begin(),
      end = tracks_.end(); it != end; it++)
  {
    SkeletonTrack* t = *it;
    int measure = 0;
    for(std::vector<open_ptrack::detection::SkeletonDetection>::iterator
        dit = detections_.begin(), dend = detections_.end(); dit != dend; dit++)
    {
      double detector_likelihood;

      // Compute detector likelihood:
      if (detector_likelihood_)
      {
        detector_likelihood = dit->getConfidence();
        //				detector_likelihood = log((dit->getConfidence() + 3) / 6);
      }
      else
      {
        detector_likelihood = 0;
      }

      // Compute motion likelihood:
      double motion_likelihood = t->getMahalanobisDistance(
            dit->getWorldCentroid()(0),
            dit->getWorldCentroid()(1),
            dit->getSource()->getTime());

      // Compute joint likelihood and put it in the distance matrix:

      distance_matrix_(track, measure++) =
          likelihood_weights_[0] * detector_likelihood +
          likelihood_weights_[1] * motion_likelihood;

      // Remove NaN and inf:
      if (std::isnan(distance_matrix_(track, measure-1))
          or (not std::isfinite(distance_matrix_(track, measure-1))))
        distance_matrix_(track, measure-1) = 2*gate_distance_;
    }
    track++;
  }
}

void
SkeletonTracker::updateDetectedTracks()