Method createNewTrack

tracking/src/tracker.cpp:257–289

/************************ protected methods ************************/

int
Tracker::createNewTrack(open_ptrack::detection::Detection& detection)
{
  if(detection.getConfidence() < min_confidence_)
    return -1;
  
  if (detection.getWorldCentroid().hasNaN()){
    return -1;    
  }

  open_ptrack::tracking::Track* t;
  t = new open_ptrack::tracking::Track(
        ++tracks_counter_,
        world_frame_id_,
        position_variance_,
        acceleration_variance_,
        period_,
        velocity_in_motion_term_  );

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


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

  ROS_INFO("Created %d", t->getId());

  tracks_.push_back(t);
  return tracks_counter_;
}

void
Tracker::createDistanceMatrix()