Method updateDetectedTracks

tracking/src/skeleton_tracker.cpp:248–302

}

void
SkeletonTracker::updateDetectedTracks()
{
  // Iterate over every track:
  int track = 0;
  for(std::list<open_ptrack::tracking::SkeletonTrack*>::iterator
      it = tracks_.begin(), end = tracks_.end(); it != end; it++)
  {
    bool updated = false;
    open_ptrack::tracking::SkeletonTrack* t = *it;

    for(int measure = 0; measure < cost_matrix_.cols; measure++)
    {
      // If a detection<->track association has been found:
      if(cost_matrix_(track, measure) == 0.0 &&
         distance_matrix_(track, measure) <= gate_distance_)
      {
        open_ptrack::detection::SkeletonDetection& d = detections_[measure];

        // If the detection has enough confidence in the current
        // frame or in a recent past:
        if ((t->getLowConfidenceConsecutiveFrames() < 10)
            or (d.getConfidence() >
                ((min_confidence_ + min_confidence_detections_)/2)))
        {
          // Update track with the associated detection:
          bool first_update = false;
          t->update(d.getWorldCentroid()(0),
                    d.getWorldCentroid()(1),
                    d.getWorldCentroid()(2),
                    d.getHeight(),
                    d.getDistance(), distance_matrix_(track, measure),
                    d.getConfidence(), min_confidence_,
                    min_confidence_detections_,
                    d.getSource(), d.getSkeletonMsg().joints,
                    first_update
                    );

          t->setVisibility(d.isOccluded() ? SkeletonTrack::OCCLUDED :
                                            SkeletonTrack::VISIBLE);
          updated = true;
          break;
        }
      }
    }
    if(!updated)
    {
      if(t->getVisibility() != SkeletonTrack::NOT_VISIBLE)
      {
        t->setVisibility(SkeletonTrack::NOT_VISIBLE);
      }
    }
    track++;
  }
}

void
SkeletonTracker::createNewTracks()