| 138 | {} |
| 139 | |
| 140 | void |
| 141 | SkeletonTracker::updateTracks() |
| 142 | { |
| 143 | createDistanceMatrix(); |
| 144 | createCostMatrix(); |
| 145 | |
| 146 | // Solve Global Nearest Neighbor problem: |
| 147 | Munkres munkres; |
| 148 | cost_matrix_ = munkres.solve(cost_matrix_, false); // rows: targets (tracks), cols: detections |
| 149 | |
| 150 | updateDetectedTracks(); |
| 151 | fillUnassociatedDetections(); |
| 152 | updateLostTracks(); |
| 153 | createNewTracks(); |
| 154 | } |
| 155 | |
| 156 | void |
| 157 | SkeletonTracker::createCostMatrix() |