| 145 | } |
| 146 | |
| 147 | void |
| 148 | Tracker3D::updateTracks() |
| 149 | { |
| 150 | createDistanceMatrix(); |
| 151 | createCostMatrix(); |
| 152 | |
| 153 | // Solve Global Nearest Neighbor problem: |
| 154 | Munkres munkres; |
| 155 | cost_matrix_ = munkres.solve(cost_matrix_, false); // rows: targets (tracks), cols: detections |
| 156 | |
| 157 | updateDetectedTracks(); |
| 158 | fillUnassociatedDetections(); |
| 159 | updateLostTracks(); |
| 160 | createNewTracks(); |
| 161 | } |
| 162 | |
| 163 | // void Tracker::drawRgb() |
| 164 | // { |