Method createNewTrack

tracking/src/skeleton_tracker.cpp:316–357

}

int
SkeletonTracker::createNewTrack(open_ptrack::detection::SkeletonDetection&
                                detection)
{
  if(SkeletonTracker::count == 0)
    ROS_INFO_STREAM("TODO: SkeletonTracker createNewTrack: min_confidence check (createNewTrack)");
  //  ROS_INFO_STREAM("detection conf: " << detection.getConfidence());
  //  if(detection.getConfidence() < min_confidence_)
  //    return -1;

  open_ptrack::tracking::SkeletonTrack* t;
  t = new open_ptrack::tracking::SkeletonTrack(
        ++tracks_counter_,
        world_frame_id_,
        position_variance_,
        acceleration_variance_,
        period_,
        velocity_in_motion_term_,
        detection.getSkeletonMsg().joints);

  t->init(detection.getWorldCentroid()(0), detection.getWorldCentroid()(1),
          detection.getWorldCentroid()(2),
          detection.getHeight(),
          detection.getDistance(), detection.getSource(),
          detection.getSkeletonMsg().joints);

  bool first_update = true;
  t->update(detection.getWorldCentroid()(0),
            detection.getWorldCentroid()(1),
            detection.getWorldCentroid()(2),
            detection.getHeight(), detection.getDistance(), 0.0,
            detection.getConfidence(), min_confidence_,
            min_confidence_detections_, detection.getSource(),
            detection.getSkeletonMsg().joints,
            first_update
            );

  ROS_INFO_STREAM("Created " << t->getId());

  tracks_.push_back(t);
  return tracks_counter_;
}

void
SkeletonTracker::toMarkerArray(visualization_msgs::MarkerArray::Ptr &msg,