Method updateDetectedTracks

tracking/src/tracker3d.cpp:369–428

}

void
Tracker3D::updateDetectedTracks()
{
  //      	std::cout << "Munkres output matrix:" << std::endl;
  //      	for(int row = 0; row < cost_matrix_.rows; row++) {
  //      		for(int col = 0; col < cost_matrix_.cols; col++) {
  //      			std::cout.width(1);
  //      			std::cout << cost_matrix_(row,col) << ",";
  //      		}
  //      		std::cout << std::endl;
  //      	}
  //      	std::cout << std::endl;

  // Iterate over every track:
  int track = 0;
  for(std::list<open_ptrack::tracking::Track3D*>::iterator it = tracks_.begin(); it != tracks_.end(); it++)
  {
    bool updated = false;
    open_ptrack::tracking::Track3D* t = *it;

    for(int measure = 0; measure < cost_matrix_.cols; measure++)
    {
      // If a detection<->track association has been found:
      if(cost_matrix_(track, measure) == 0.0 && distance_matrix_(track, measure) <= gate_distance_)
      {
        open_ptrack::detection::Detection& d = detections_[measure];

        // If the detection has enough confidence in the current frame or in a recent past:
        //            if ((t->getLowConfidenceConsecutiveFrames() < 10) || ((d.getConfidence() - 0.5) > min_confidence_detections_))
        if ((t->getLowConfidenceConsecutiveFrames() < 10) || (d.getConfidence() > ((min_confidence_ + min_confidence_detections_)/2)))
        {
          // Update track with the associated detection:
          bool first_update = false;
          t->update(d.getWorldCentroid()(0), d.getWorldCentroid()(1), d.getWorldCentroid()(2),d.getHeight(),
                    d.getDistance(), distance_matrix_(track, measure),
                    d.getConfidence(), min_confidence_, min_confidence_detections_,
                    d.getSource(), first_update);

          t->setVisibility(d.isOccluded() ? Track3D::OCCLUDED : Track3D::VISIBLE);
          updated = true;
          break;
        }
        else
        {
          //std::cout << "Id: " << t->getId() << ", lowConfConsFrames: " << t->getLowConfidenceConsecutiveFrames() << ", newConf: " << d.getConfidence()<< std::endl;
        }
      }
    }
    if(!updated)
    {
      if(t->getVisibility() != Track3D::NOT_VISIBLE)
      {
        t->setVisibility(Track3D::NOT_VISIBLE);
        //t->update();
      }
    }
    track++;
  }