This node is intended as a global object tracker from 2D planar scans, primarily from laser scanners.
When a new scan is received it is broken into small groups of points named segments.
After obtaining the current set of measurements from the most recent scan, we associate these objects with objects from past iterations. This association is based on the distance from the current object position and its predicted position, this association is complicated with a few gate criteria.
This node publishes a list of current targets with their id and position.
Documentation on the Mht algorithm may be found here, while documentation on the Graphviz plug-in and class may be found here.