starting point is looking at https://github.com/LCAS/bayestracking/blob/master/include/bayes_tracking/multitracker.h#L254 and creating another data association alg named LABELLEDNN.
Use the AssociationMatrix amat (with M being the number of observations and N being the number of trackers) to assign costs. This is already done by the algorithm. All we need to do is set the cost to DBL_MAX when the labels do not match up. Observations observation_t already have a flag field that we can use as it's not used anywhere else to "tag" the observations. But then each "filter" filter_t also needs to keep track of the assign "tag", so that they can be matched. Maybe extend https://github.com/LCAS/bayestracking/blob/master/include/bayes_tracking/multitracker.h#L59 to facilitate this.
@pet1330 can you have a look at this?
starting point is looking at https://github.com/LCAS/bayestracking/blob/master/include/bayes_tracking/multitracker.h#L254 and creating another data association alg named
LABELLEDNN.Use the
AssociationMatrix amat(withMbeing the number of observations andNbeing the number of trackers) to assign costs. This is already done by the algorithm. All we need to do is set the cost toDBL_MAXwhen the labels do not match up. Observationsobservation_talready have aflagfield that we can use as it's not used anywhere else to "tag" the observations. But then each "filter"filter_talso needs to keep track of the assign "tag", so that they can be matched. Maybe extend https://github.com/LCAS/bayestracking/blob/master/include/bayes_tracking/multitracker.h#L59 to facilitate this.@pet1330 can you have a look at this?