Method createNewTrack

tracking/src/tracker3d.cpp:245–272

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

int
Tracker3D::createNewTrack(open_ptrack::detection::Detection& detection)
{
  if(detection.getConfidence() < min_confidence_)
    return -1;

  open_ptrack::tracking::Track3D* t;
  t = new open_ptrack::tracking::Track3D(
        ++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.getHeight(), detection.getDistance(), detection.getSource());

  bool first_update = true;
  t->update(detection.getWorldCentroid()(0), detection.getWorldCentroid()(1), detection.getWorldCentroid()(2),
            detection.getHeight(), 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
Tracker3D::createDistanceMatrix()