AssociatePolicy.cpp

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#include <labust/blueview/AssociatePolicy.hpp>

using namespace labust::blueview;

bool DirectAssociate::associate(const TrackedFeatureVecPtr features, const SonarHead& head,
                                        TrackedFeature* const tracklet, TrackedFeature* const target)
{
        int idx = -1;
        double mindiff = 10000;

        bool hasTarget(target!=0);

        for (size_t i=0;i<features->size();++i)
        {
                TrackedFeature& tfeature = (*features)[i];

                /*double tt_distance(0);
                if (hasTarget)
                {
                        double tt_dx = tfeature.pposition.x - target->pposition.x;
                        double tt_dy = tfeature.pposition.y - target->pposition.y;
                        tt_distance = sqrt(tt_dx*tt_dx + tt_dy*tt_dy);
                }
                else
                {
                        tt_distance = 100;
                }
                */

          double dx = (tfeature.pposition.x) - tracklet->pposition.x;
          double dy = (tfeature.pposition.y) - tracklet->pposition.y;
          double distance = sqrt(dx*dx + dy*dy);

          /*if (tt_distance > distance)
          {
           if (hasTarget) std::cout<<"Distance to target:"<<tt_distance*head.resolution<<std::endl;*/

           if (distance<mindiff)
           {
            mindiff = distance;
            idx = i;
           }
          /*}
          else
          {
            std::cout<<"Skipped target."<<std::endl;
          }
          */
        }

        if (idx != -1)
        {
         tracklet->pposition = (*features)[idx].pposition;
         return true;
        }

        return false;
};