Method newFrame

tracking/src/tracker.cpp:91–146

}

void
Tracker::newFrame(const std::vector<open_ptrack::detection::Detection>& detections)
{
  detections_.clear();
  unassociated_detections_.clear();
  lost_tracks_.clear();
  new_tracks_.clear();
  associations_.assign(detections.size(), NULL);
  detections_ = detections;

  ros::Time current_detections_time = detections_[0].getSource()->getTime();

  for(std::list<open_ptrack::tracking::Track*>::iterator it = tracks_.begin(); it != tracks_.end();)
  {
    open_ptrack::tracking::Track* t = *it;
    bool deleted = false;

    if(((t->getVisibility() == Track::NOT_VISIBLE && (t->getSecFromLastHighConfidenceDetection(current_detections_time)) >= sec_before_old_)
        || (!t->isValidated() && t->getSecFromFirstDetection(current_detections_time) >= sec_before_fake_)))
    {
      if (debug_mode_)
      {
        std::cout << "Track " << t->getId() << " DELETED" << std::endl;
      }
      delete t;
      it = tracks_.erase(it);
      deleted = true;
    }
    else if(!t->isValidated() && t->getUpdatesWithEnoughConfidence() == detections_to_validate_)
    {
      t->validate();
      if (debug_mode_)
      {
        std::cout << "Track " << t->getId() << " VALIDATED" << std::endl;
      }
    }
    else if(t->getStatus() == Track::NEW && t->getSecFromFirstDetection(current_detections_time) >= sec_remain_new_)
    {
      t->setStatus(Track::NORMAL);
      if (debug_mode_)
      {
        std::cout << "Track " << t->getId() << " set to NORMAL" << std::endl;
      }
    }

    if(!deleted)
    {
      if(t->getStatus() == Track::NEW && t->getVisibility() == Track::VISIBLE)
        new_tracks_.push_back(t);
      if(t->getVisibility() == Track::NOT_VISIBLE)
        lost_tracks_.push_back(t);
      it++;
    }

  }
}

void