| 54 | } |
| 55 | |
| 56 | void |
| 57 | SkeletonTracker::newFrame(const SkeletonDetectionVector& detections) |
| 58 | { |
| 59 | detections_.clear(); |
| 60 | unassociated_detections_.clear(); |
| 61 | lost_tracks_.clear(); |
| 62 | new_tracks_.clear(); |
| 63 | detections_ = detections; |
| 64 | |
| 65 | ros::Time current_detections_time = detections_[0].getSource()->getTime(); |
| 66 | |
| 67 | for(std::list<open_ptrack::tracking::SkeletonTrack*>::iterator |
| 68 | it = tracks_.begin(), end = tracks_.end(); |
| 69 | it != end;) |
| 70 | { |
| 71 | open_ptrack::tracking::SkeletonTrack* t = *it; |
| 72 | bool deleted = false; |
| 73 | |
| 74 | if(((t->getVisibility() == SkeletonTrack::NOT_VISIBLE && (t->getSecFromLastHighConfidenceDetection(current_detections_time)) >= sec_before_old_) |
| 75 | || (!t->isValidated() && t->getSecFromFirstDetection(current_detections_time) >= sec_before_fake_))) |
| 76 | { |
| 77 | ROS_INFO_STREAM("first test: " << (t->getVisibility() == SkeletonTrack::NOT_VISIBLE && (t->getSecFromLastHighConfidenceDetection(current_detections_time)) >= sec_before_old_)); |
| 78 | ROS_INFO_STREAM("is not validated and > sec_fake " << (!t->isValidated() && t->getSecFromFirstDetection(current_detections_time) >= sec_before_fake_)); |
| 79 | if (debug_mode_) |
| 80 | { |
| 81 | std::cout << "Track " << t->getId() << " DELETED" << std::endl; |
| 82 | } |
| 83 | delete t; |
| 84 | it = tracks_.erase(it); |
| 85 | deleted = true; |
| 86 | } |
| 87 | else if(!t->isValidated() && t->getUpdatesWithEnoughConfidence() == detections_to_validate_) |
| 88 | { |
| 89 | t->validate(); |
| 90 | if (debug_mode_) |
| 91 | { |
| 92 | std::cout << "Track " << t->getId() << " VALIDATED" << std::endl; |
| 93 | } |
| 94 | } |
| 95 | else if(t->getStatus() == SkeletonTrack::NEW && t->getSecFromFirstDetection(current_detections_time) >= sec_remain_new_) |
| 96 | { |
| 97 | t->setStatus(SkeletonTrack::NORMAL); |
| 98 | if (debug_mode_) |
| 99 | { |
| 100 | std::cout << "Track " << t->getId() << " set to NORMAL" << std::endl; |
| 101 | } |
| 102 | } |
| 103 | |
| 104 | if(!deleted) |
| 105 | { |
| 106 | if(t->getStatus() == SkeletonTrack::NEW |
| 107 | && t->getVisibility() == SkeletonTrack::VISIBLE) |
| 108 | { |
| 109 | new_tracks_.push_back(t); |
| 110 | } |
| 111 | if(t->getVisibility() == SkeletonTrack::NOT_VISIBLE) |
| 112 | { |
| 113 | lost_tracks_.push_back(t); |
nothing calls this directly
no test coverage detected