Using Ubuntu package manager:

$ sudo apt-get install libeigen3-dev libboost-all-dev gnuplot gnuplot-qt pkg-config

Obtain, build, and install Munkres Hungarian Assignment Algorithm:

$ git clone https://github.com/saebyn/munkres-cpp.git

Make change to /path/to/munkres-cpp/CMakeLists.txt: Add the following to line 27:

${PROJECT_SOURCE_DIR}/src/adapters/boostmatrixadapter.h

$ mkdir build && cd build
$ cmake .. $ make $ sudo make install $ sudo ldconfig

Build openMHT:

$ cd /path/to/openmht $ ./build.sh $ sudo ./build.sh install

By default, this will only install a pkg-config file that points to your local git repository. This is necessary because openMHT is currently under heavy development.

Copy the cmake file located at /path/to/openmht/cmake/Modules/Findopenmht.cmake to your /cmake/Modules path in your cmake project to find and use openMHT easily. You will need to include openmht_INCLUDE_DIRS and link to openmht_LIBRARIES.

include_directories(${openmht_INCLUDE_DIRS})

target_link_libraries( your_app_name ${openmht_LIBRARIES} )

Look at the example in /path/to/openmht/share/multi-track-example/main.cpp for how to use the openMHT API. The important calls are:

openmht::MHT mht; // start an instance of openMHT mht.set_dt(dt); // set the sensor update period (seconds).

// Convert your measurement structure to openmht::Measurement openmht::Measurement m; m.set_position(Eigen::Vector2d(3.4,1.8);

// Add the measurement to a list: std::listopenmht::Measurement m_list; m_list.push_back(m);

// Process the list of measurements with MHT mht.process_measurements(m_list);

// Get a list of the fused entities / contacts: std::listopenmht::Entity ents = mht.entities();

// Each entity has a position() method that provides the // current estimated 2D position as an Eigen::Vector2d