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fix(detection_by_tracker): add ignore option for each label #5473

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merged 2 commits into from
Nov 13, 2023
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fix(detection_by_tracker): add ignore option for each label #5473

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755fef2
fix(detection_by_tracker): add ignore for each class
badai-nguyen Nov 2, 2023
892b422
fix: launch
badai-nguyen Nov 2, 2023
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1 change: 1 addition & 0 deletions ...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
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Expand Up @@ -195,6 +195,7 @@
<group if="$(var use_detection_by_tracker)">
<push-ros-namespace namespace="detection_by_tracker"/>
<include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml"/>
<arg name="detection_by_tracker_param_path" default="$(find-pkg-share detection_by_tracker)/config/detection_by_tracker.param.yaml"/>
</group>

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1 change: 1 addition & 0 deletions .../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
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Expand Up @@ -220,6 +220,7 @@
<group if="$(var use_detection_by_tracker)">
<push-ros-namespace namespace="detection_by_tracker"/>
<include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml"/>
<arg name="detection_by_tracker_param_path" default="$(find-pkg-share detection_by_tracker)/config/detection_by_tracker.param.yaml"/>
</group>

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3 changes: 3 additions & 0 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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Expand Up @@ -73,6 +73,7 @@
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
</include>
</group>

Expand Down Expand Up @@ -104,6 +105,7 @@
<arg name="container_name" value="$(var container_name)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
</include>
</group>

Expand Down Expand Up @@ -133,6 +135,7 @@
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
</include>
</group>

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1 change: 1 addition & 0 deletions ...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
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Expand Up @@ -61,6 +61,7 @@
<group if="$(var use_detection_by_tracker)">
<push-ros-namespace namespace="detection_by_tracker"/>
<include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml"/>
<arg name="detection_by_tracker_param_path" default="$(find-pkg-share detection_by_tracker)/config/detection_by_tracker.param.yaml"/>
</group>

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2 changes: 2 additions & 0 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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Expand Up @@ -18,6 +18,7 @@
<arg name="obstacle_segmentation_ground_segmentation_param_path"/>
<arg name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"/>
<arg name="object_recognition_detection_obstacle_pointcloud_based_validator_param_path"/>
<arg name="object_recognition_detection_detection_by_tracker_param"/>
<arg name="occupancy_grid_map_method"/>
<arg name="occupancy_grid_map_param_path"/>
<arg name="occupancy_grid_map_updater"/>
Expand Down Expand Up @@ -174,6 +175,7 @@
<arg name="outlier_param_path" value="$(var object_recognition_detection_outlier_param_path)"/>
<arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var object_recognition_detection_radar_lanelet_filtering_range_param)"/>
<arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_object_filter" value="$(var use_object_filter)"/>
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2 changes: 2 additions & 0 deletions perception/detection_by_tracker/CMakeLists.txt
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Expand Up @@ -27,6 +27,7 @@ include_directories(
# Generate exe file
set(DETECTION_BY_TRACKER_SRC
src/detection_by_tracker_core.cpp
src/utils.cpp
)

ament_auto_add_library(detection_by_tracker_node SHARED
Expand All @@ -45,4 +46,5 @@ rclcpp_components_register_node(detection_by_tracker_node

ament_auto_package(INSTALL_TO_SHARE
launch
config
)
11 changes: 11 additions & 0 deletions perception/detection_by_tracker/config/detection_by_tracker.param.yaml
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@@ -0,0 +1,11 @@
/**:
ros__parameters:
tracker_ignore_label:
UNKNOWN : true
CAR : false
TRUCK : false
BUS : false
TRAILER : false
MOTORCYCLE : false
BICYCLE : false
PEDESTRIAN : false
5 changes: 3 additions & 2 deletions perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp
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Expand Up @@ -39,14 +39,15 @@
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#endif

#include "utils/utils.hpp"

#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>

#include <deque>
#include <map>
#include <memory>
#include <vector>

class TrackerHandler
{
private:
Expand Down Expand Up @@ -81,7 +82,7 @@ class DetectionByTracker : public rclcpp::Node
std::map<uint8_t, int> max_search_distance_for_merger_;
std::map<uint8_t, int> max_search_distance_for_divider_;

bool ignore_unknown_tracker_;
utils::TrackerIgnoreLabel tracker_ignore_;

void setMaxSearchRange();

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36 changes: 36 additions & 0 deletions perception/detection_by_tracker/include/utils/utils.hpp
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// Copyright 2023 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.

#ifndef UTILS__UTILS_HPP_
#define UTILS__UTILS_HPP_

#include <cstdint>

namespace utils
{
struct TrackerIgnoreLabel
{
bool UNKNOWN;
bool CAR;
bool TRUCK;
bool BUS;
bool TRAILER;
bool MOTORCYCLE;
bool BICYCLE;
bool PEDESTRIAN;
bool isIgnore(const uint8_t label) const;
}; // struct TrackerIgnoreLabel
} // namespace utils

#endif // UTILS__UTILS_HPP_
3 changes: 2 additions & 1 deletion perception/detection_by_tracker/launch/detection_by_tracker.launch.xml
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Expand Up @@ -3,10 +3,11 @@
<arg name="input/tracked_objects" default="/perception/object_recognition/tracking/objects"/>
<arg name="input/initial_objects" default="/perception/object_recognition/detection/clustering/objects_with_feature"/>
<arg name="output" default="objects"/>

<arg name="detection_by_tracker_param_path" default="$(find-pkg-share detection_by_tracker)/config/detection_by_tracker.param.yaml"/>
<node pkg="detection_by_tracker" exec="detection_by_tracker" name="detection_by_tracker_node" output="screen">
<remap from="~/input/tracked_objects" to="$(var input/tracked_objects)"/>
<remap from="~/input/initial_objects" to="$(var input/initial_objects)"/>
<remap from="~/output" to="$(var output)"/>
<param from="$(var detection_by_tracker_param_path)"/>
</node>
</launch>
14 changes: 11 additions & 3 deletions perception/detection_by_tracker/src/detection_by_tracker_core.cpp
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@@ -1,4 +1,4 @@
// Copyright 2021 Tier IV, Inc.

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✅ Getting better: Overall Code Complexity 

The mean cyclomatic complexity decreases from 5.08 to 4.92, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -160,7 +160,15 @@
objects_pub_ = create_publisher<autoware_auto_perception_msgs::msg::DetectedObjects>(
"~/output", rclcpp::QoS{1});

ignore_unknown_tracker_ = declare_parameter<bool>("ignore_unknown_tracker", true);
// Set parameters
tracker_ignore_.UNKNOWN = declare_parameter<bool>("tracker_ignore_label.UNKNOWN");
tracker_ignore_.CAR = declare_parameter<bool>("tracker_ignore_label.CAR");
tracker_ignore_.TRUCK = declare_parameter<bool>("tracker_ignore_label.TRUCK");
tracker_ignore_.BUS = declare_parameter<bool>("tracker_ignore_label.BUS");
tracker_ignore_.TRAILER = declare_parameter<bool>("tracker_ignore_label.TRAILER");
tracker_ignore_.MOTORCYCLE = declare_parameter<bool>("tracker_ignore_label.MOTORCYCLE");
tracker_ignore_.BICYCLE = declare_parameter<bool>("tracker_ignore_label.BICYCLE");
tracker_ignore_.PEDESTRIAN = declare_parameter<bool>("tracker_ignore_label.PEDESTRIAN");

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// set maximum search setting for merger/divider
setMaxSearchRange();
Expand Down Expand Up @@ -259,7 +267,7 @@

for (const auto & tracked_object : tracked_objects.objects) {
const auto & label = tracked_object.classification.front().label;
if (ignore_unknown_tracker_ && (label == Label::UNKNOWN)) continue;
if (tracker_ignore_.isIgnore(label)) continue;

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Complex Method 

DetectionByTracker::divideUnderSegmentedObjects decreases in cyclomatic complexity from 15 to 14, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

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// change search range according to label type
const float max_search_range = max_search_distance_for_divider_[label];
Expand Down Expand Up @@ -395,7 +403,7 @@

for (const auto & tracked_object : tracked_objects.objects) {
const auto & label = tracked_object.classification.front().label;
if (ignore_unknown_tracker_ && (label == Label::UNKNOWN)) continue;
if (tracker_ignore_.isIgnore(label)) continue;

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Complex Method 

DetectionByTracker::mergeOverSegmentedObjects decreases in cyclomatic complexity from 14 to 13, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

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// change search range according to label type
const float max_search_range = max_search_distance_for_merger_[label];
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30 changes: 30 additions & 0 deletions perception/detection_by_tracker/src/utils.cpp
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// Copyright 2023 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.

#include "utils/utils.hpp"

#include <autoware_auto_perception_msgs/msg/object_classification.hpp>

namespace utils
{
using Label = autoware_auto_perception_msgs::msg::ObjectClassification;

bool TrackerIgnoreLabel::isIgnore(const uint8_t label) const

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{
return (label == Label::UNKNOWN && UNKNOWN) || (label == Label::CAR && CAR) ||
(label == Label::TRUCK && TRUCK) || (label == Label::BUS && BUS) ||
(label == Label::TRAILER && TRAILER) || (label == Label::MOTORCYCLE && MOTORCYCLE) ||
(label == Label::BICYCLE && BICYCLE) || (label == Label::PEDESTRIAN && PEDESTRIAN);

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}

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❌ New issue: Complex Method 

TrackerIgnoreLabel::isIgnore has a cyclomatic complexity of 16, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
} // namespace utils
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