| 388 | } |
| 389 | |
| 390 | void |
| 391 | TrackerObject::updateDetectedTracks() |
| 392 | { |
| 393 | // std::cout << "Munkres output matrix:" << std::endl; |
| 394 | // for(int row = 0; row < cost_matrix_.rows; row++) { |
| 395 | // for(int col = 0; col < cost_matrix_.cols; col++) { |
| 396 | // std::cout.width(1); |
| 397 | // std::cout << cost_matrix_(row,col) << ","; |
| 398 | // } |
| 399 | // std::cout << std::endl; |
| 400 | // } |
| 401 | // std::cout << std::endl; |
| 402 | |
| 403 | // Iterate over every track: |
| 404 | int track = 0; |
| 405 | for(std::list<open_ptrack::tracking::TrackObject*>::iterator it = tracks_.begin(); it != tracks_.end(); it++) |
| 406 | { |
| 407 | bool updated = false; |
| 408 | open_ptrack::tracking::TrackObject* t = *it; |
| 409 | |
| 410 | for(int measure = 0; measure < cost_matrix_.cols; measure++) |
| 411 | { |
| 412 | // If a detection<->track association has been found: |
| 413 | if(cost_matrix_(track, measure) == 0.0 && distance_matrix_(track, measure) <= gate_distance_) |
| 414 | { |
| 415 | |
| 416 | |
| 417 | open_ptrack::detection::Detection& d = detections_[measure]; |
| 418 | |
| 419 | // If the detection has enough confidence in the current frame or in a recent past: |
| 420 | // if ((t->getLowConfidenceConsecutiveFrames() < 10) || ((d.getConfidence() - 0.5) > min_confidence_detections_)) |
| 421 | if ((t->getLowConfidenceConsecutiveFrames() < 10) || (d.getConfidence() > ((min_confidence_ + min_confidence_detections_)/2))) |
| 422 | { |
| 423 | //for object tracking |
| 424 | association_for_initialize_objectnames_.push_back(measure); |
| 425 | |
| 426 | |
| 427 | // Update track with the associated detection: |
| 428 | bool first_update = false; |
| 429 | |
| 430 | t->update(d.getWorldCentroid()(0), d.getWorldCentroid()(1), d.getWorldCentroid()(2),d.getWorldCentroid()(2), |
| 431 | d.getDistance(),d.getObjectName(), distance_matrix_(track, measure), |
| 432 | d.getConfidence(), min_confidence_, min_confidence_detections_, |
| 433 | d.getSource(), first_update); |
| 434 | |
| 435 | t->setVisibility(d.isOccluded() ? TrackObject::OCCLUDED : TrackObject::VISIBLE); |
| 436 | updated = true; |
| 437 | break; |
| 438 | } |
| 439 | else |
| 440 | { |
| 441 | //std::cout << "Id: " << t->getId() << ", lowConfConsFrames: " << t->getLowConfidenceConsecutiveFrames() << ", newConf: " << d.getConfidence()<< std::endl; |
| 442 | } |
| 443 | } |
| 444 | } |
| 445 | if(!updated) |
| 446 | { |
| 447 | if(t->getVisibility() != TrackObject::NOT_VISIBLE) |
nothing calls this directly
no test coverage detected