Method toMsg

tracking/src/track3d.cpp:586–621

}

void
Track3D::toMsg(opt_msgs::Track3D& track_msg, bool vertical)
{

  double _x, _y, _z;
  filter_->getState(_x, _y, _z);

  track_msg.id = id_;
  track_msg.x = _x;
  track_msg.y = _y;
  track_msg.z = _z;
  track_msg.height = height_;
  track_msg.distance = distance_;
  track_msg.age = age_;
  track_msg.confidence = - data_association_score_;   // minus for transforming distance into a sort of confidence
  track_msg.visibility = visibility_;

  Eigen::Vector3d top(_x, _y, _z + (height_/2));
  Eigen::Vector3d bottom(_x, _y, _z - (height_/2));
  top = detection_source_->transformToCam(top);
  bottom = detection_source_->transformToCam(bottom);
  if (not vertical)
  {
    track_msg.box_2D.height = int(std::abs((top - bottom)(1)));
    track_msg.box_2D.width = track_msg.box_2D.height / 2;
    track_msg.box_2D.x = int(top(0)) - track_msg.box_2D.height / 4;
    track_msg.box_2D.y = int(top(1));
  }
  else
  {
    track_msg.box_2D.width = int(std::abs((top - bottom)(0)));
    track_msg.box_2D.height = track_msg.box_2D.width / 2;
    track_msg.box_2D.x = int(top(0)) - track_msg.box_2D.width;
    track_msg.box_2D.y = int(top(1)) - track_msg.box_2D.width / 4;
  }
}

open_ptrack::detection::DetectionSource*
Track3D::getDetectionSource()