| 143 | } |
| 144 | |
| 145 | void |
| 146 | TrackerObject::updateTracks() |
| 147 | { |
| 148 | createDistanceMatrix(); |
| 149 | createCostMatrix(); |
| 150 | |
| 151 | // Solve Global Nearest Neighbor problem: |
| 152 | Munkres munkres; |
| 153 | cost_matrix_ = munkres.solve(cost_matrix_, false); // rows: targets (tracks), cols: detections |
| 154 | |
| 155 | updateDetectedTracks(); |
| 156 | fillUnassociatedDetections(); |
| 157 | updateLostTracks(); |
| 158 | createNewTracks(); |
| 159 | } |
| 160 | |
| 161 | void |
| 162 | TrackerObject::toMarkerArray(visualization_msgs::MarkerArray::Ptr& msg) |