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refactor(autoware_multi_object_tracker): define a new internal object…
… class (#9706) * feat: Add dynamic_object.hpp to object_model directory Signed-off-by: Taekjin LEE <[email protected]> * chore: Update autoware_perception_msgs include statements in association.hpp and dynamic_object.hpp Signed-off-by: Taekjin LEE <[email protected]> * fix: replace object message type to the DynamicObject type Signed-off-by: Taekjin LEE <[email protected]> * chore: Update autoware_perception_msgs include statements in association.hpp and dynamic_object.hpp Signed-off-by: Taekjin LEE <[email protected]> * chore: add channel index to the DynamicObjects Signed-off-by: Taekjin LEE <[email protected]> * Revert "chore: add channel index to the DynamicObjects" This reverts commit c7e73f0. Signed-off-by: Taekjin LEE <[email protected]> * fix: replace trackedobject in the process Signed-off-by: Taekjin LEE <[email protected]> * fix: Replace transformObjects with shapes::transformObjects for object transformation Signed-off-by: Taekjin LEE <[email protected]> * chore: add channel index to the DynamicObjects Signed-off-by: Taekjin LEE <[email protected]> * feat: separate shape related functions Signed-off-by: Taekjin LEE <[email protected]> * chore: clean up utils.hpp Signed-off-by: Taekjin LEE <[email protected]> * chore: Update function signatures to use DynamicObjectList instead of DynamicObjects Signed-off-by: Taekjin LEE <[email protected]> * chore: Add channel index to DynamicObject and DynamicObjectList Signed-off-by: Taekjin LEE <[email protected]> * chore: Refactor processor and debugger classes to remove channel_index parameter Signed-off-by: Taekjin LEE <[email protected]> * chore: Refactor multiple_vehicle_tracker.cpp and debugger.cpp Signed-off-by: Taekjin LEE <[email protected]> * Refactor object tracker classes to remove self_transform parameter Signed-off-by: Taekjin LEE <[email protected]> * Refactor object tracker classes to use shapes namespace for shape-related functions Signed-off-by: Taekjin LEE <[email protected]> * Refactor object tracker classes to use types.hpp for object model types Signed-off-by: Taekjin LEE <[email protected]> * Refactor object tracker classes to remove unused utils.hpp Signed-off-by: Taekjin LEE <[email protected]> * Refactor object tracker classes to use types.hpp for object model types Signed-off-by: Taekjin LEE <[email protected]> * chore: rename to types.cpp Signed-off-by: Taekjin LEE <[email protected]> * rename getDynamicObject to toDynamicObject Signed-off-by: Taekjin LEE <[email protected]> * Update perception/autoware_multi_object_tracker/lib/object_model/shapes.cpp Co-authored-by: Yukihiro Saito <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]> Co-authored-by: Yukihiro Saito <[email protected]>
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57 changes: 57 additions & 0 deletions
57
...toware_multi_object_tracker/include/autoware/multi_object_tracker/object_model/shapes.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,57 @@ | ||
| // Copyright 2024 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
| // | ||
| // | ||
| // Author: v1.0 Taekjin Lee | ||
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| #ifndef AUTOWARE__MULTI_OBJECT_TRACKER__OBJECT_MODEL__SHAPES_HPP_ | ||
| #define AUTOWARE__MULTI_OBJECT_TRACKER__OBJECT_MODEL__SHAPES_HPP_ | ||
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| #include "autoware/multi_object_tracker/object_model/types.hpp" | ||
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| #include <Eigen/Core> | ||
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| #include <tf2_ros/buffer.h> | ||
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| #include <string> | ||
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| namespace autoware::multi_object_tracker | ||
| { | ||
| namespace shapes | ||
| { | ||
| bool transformObjects( | ||
| const types::DynamicObjectList & input_msg, const std::string & target_frame_id, | ||
| const tf2_ros::Buffer & tf_buffer, types::DynamicObjectList & output_msg); | ||
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| double get2dIoU( | ||
| const types::DynamicObject & source_object, const types::DynamicObject & target_object, | ||
| const double min_union_area = 0.01); | ||
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| bool convertConvexHullToBoundingBox( | ||
| const types::DynamicObject & input_object, types::DynamicObject & output_object); | ||
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| bool getMeasurementYaw( | ||
| const types::DynamicObject & object, const double & predicted_yaw, double & measurement_yaw); | ||
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| int getNearestCornerOrSurface( | ||
| const double x, const double y, const double yaw, const double width, const double length, | ||
| const geometry_msgs::msg::Transform & self_transform); | ||
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| void calcAnchorPointOffset( | ||
| const double w, const double l, const int indx, const types::DynamicObject & input_object, | ||
| const double & yaw, types::DynamicObject & offset_object, Eigen::Vector2d & tracking_offset); | ||
| } // namespace shapes | ||
| } // namespace autoware::multi_object_tracker | ||
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| #endif // AUTOWARE__MULTI_OBJECT_TRACKER__OBJECT_MODEL__SHAPES_HPP_ |
88 changes: 88 additions & 0 deletions
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...utoware_multi_object_tracker/include/autoware/multi_object_tracker/object_model/types.hpp
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| @@ -0,0 +1,88 @@ | ||
| // Copyright 2024 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
| // | ||
| // | ||
| // Author: v1.0 Taekjin Lee | ||
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| #ifndef AUTOWARE__MULTI_OBJECT_TRACKER__OBJECT_MODEL__TYPES_HPP_ | ||
| #define AUTOWARE__MULTI_OBJECT_TRACKER__OBJECT_MODEL__TYPES_HPP_ | ||
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| #include <autoware_perception_msgs/msg/detected_object.hpp> | ||
| #include <autoware_perception_msgs/msg/detected_object_kinematics.hpp> | ||
| #include <autoware_perception_msgs/msg/detected_objects.hpp> | ||
| #include <autoware_perception_msgs/msg/object_classification.hpp> | ||
| #include <autoware_perception_msgs/msg/shape.hpp> | ||
| #include <autoware_perception_msgs/msg/tracked_object.hpp> | ||
| #include <autoware_perception_msgs/msg/tracked_object_kinematics.hpp> | ||
| #include <geometry_msgs/msg/polygon.hpp> | ||
| #include <geometry_msgs/msg/pose_with_covariance.hpp> | ||
| #include <geometry_msgs/msg/twist_with_covariance.hpp> | ||
| #include <geometry_msgs/msg/vector3.hpp> | ||
| #include <std_msgs/msg/header.hpp> | ||
| #include <unique_identifier_msgs/msg/uuid.hpp> | ||
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| #include <boost/optional.hpp> | ||
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| #include <vector> | ||
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| namespace autoware::multi_object_tracker | ||
| { | ||
| namespace types | ||
| { | ||
| enum OrientationAvailability : uint8_t { | ||
| UNAVAILABLE = 0, | ||
| SIGN_UNKNOWN = 1, | ||
| AVAILABLE = 2, | ||
| }; | ||
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| struct ObjectKinematics | ||
| { | ||
| geometry_msgs::msg::PoseWithCovariance pose_with_covariance; | ||
| geometry_msgs::msg::TwistWithCovariance twist_with_covariance; | ||
| bool has_position_covariance = false; | ||
| OrientationAvailability orientation_availability; | ||
| bool has_twist = false; | ||
| bool has_twist_covariance = false; | ||
| }; | ||
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| struct DynamicObject | ||
| { | ||
| unique_identifier_msgs::msg::UUID object_id = unique_identifier_msgs::msg::UUID(); | ||
| uint channel_index; | ||
| float existence_probability; | ||
| std::vector<autoware_perception_msgs::msg::ObjectClassification> classification; | ||
| ObjectKinematics kinematics; | ||
| autoware_perception_msgs::msg::Shape shape; | ||
| }; | ||
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| struct DynamicObjectList | ||
| { | ||
| std_msgs::msg::Header header; | ||
| uint channel_index; | ||
| std::vector<DynamicObject> objects; | ||
| }; | ||
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| DynamicObject toDynamicObject( | ||
| const autoware_perception_msgs::msg::DetectedObject & det_object, const uint channel_index = 0); | ||
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| DynamicObjectList toDynamicObjectList( | ||
| const autoware_perception_msgs::msg::DetectedObjects & det_objects, const uint channel_index = 0); | ||
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| autoware_perception_msgs::msg::TrackedObject toTrackedObjectMsg(const DynamicObject & dyn_object); | ||
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| } // namespace types | ||
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| } // namespace autoware::multi_object_tracker | ||
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| #endif // AUTOWARE__MULTI_OBJECT_TRACKER__OBJECT_MODEL__TYPES_HPP_ |
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