refactor(autoware_multi_object_tracker): merge normal_vehicle_tracker…

… and big_vehicle_tracker (autowarefoundation#9613) * refactor: define object_model_ at initialization * refactor: combine normal and big vehicle tracker
tier4 · Dec 12, 2024 · e30350c · e30350c
1 parent 3cfb03e
commit e30350c
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Showing 9 changed files with 41 additions and 479 deletions.
diff --git a/perception/autoware_multi_object_tracker/CMakeLists.txt b/perception/autoware_multi_object_tracker/CMakeLists.txt
@@ -36,8 +36,7 @@ set(${PROJECT_NAME}_lib
   lib/tracker/motion_model/ctrv_motion_model.cpp
   lib/tracker/motion_model/cv_motion_model.cpp
   lib/tracker/model/tracker_base.cpp
-  lib/tracker/model/big_vehicle_tracker.cpp
-  lib/tracker/model/normal_vehicle_tracker.cpp
+  lib/tracker/model/vehicle_tracker.cpp
   lib/tracker/model/multiple_vehicle_tracker.cpp
   lib/tracker/model/bicycle_tracker.cpp
   lib/tracker/model/pedestrian_tracker.cpp

diff --git a/..._tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp b/..._tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp
@@ -20,9 +20,8 @@
 #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_
 
 #include "autoware/kalman_filter/kalman_filter.hpp"
-#include "autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp"
-#include "autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp"
 #include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp"
+#include "autoware/multi_object_tracker/tracker/model/vehicle_tracker.hpp"
 
 #include <rclcpp/time.hpp>
 
@@ -32,8 +31,8 @@ namespace autoware::multi_object_tracker
 class MultipleVehicleTracker : public Tracker
 {
 private:
-  NormalVehicleTracker normal_vehicle_tracker_;
-  BigVehicleTracker big_vehicle_tracker_;
+  VehicleTracker normal_vehicle_tracker_;
+  VehicleTracker big_vehicle_tracker_;
 
 public:
   MultipleVehicleTracker(

diff --git a/...ct_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp b/...ct_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp
diff --git a/...ker/tracker/model/big_vehicle_tracker.hpp → ...tracker/tracker/model/vehicle_tracker.hpp b/...ker/tracker/model/big_vehicle_tracker.hpp → ...tracker/tracker/model/vehicle_tracker.hpp
@@ -16,8 +16,8 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_
-#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__VEHICLE_TRACKER_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__VEHICLE_TRACKER_HPP_
 
 #include "autoware/kalman_filter/kalman_filter.hpp"
 #include "autoware/multi_object_tracker/object_model/object_model.hpp"
@@ -27,16 +27,15 @@
 namespace autoware::multi_object_tracker
 {
 
-class BigVehicleTracker : public Tracker
+class VehicleTracker : public Tracker
 {
 private:
-  autoware_perception_msgs::msg::DetectedObject object_;
+  object_model::ObjectModel object_model_;
   rclcpp::Logger logger_;
 
-  object_model::ObjectModel object_model_ = object_model::big_vehicle;
-
   double velocity_deviation_threshold_;
 
+  autoware_perception_msgs::msg::DetectedObject object_;
   double z_;
 
   struct BoundingBox
@@ -52,8 +51,9 @@ class BigVehicleTracker : public Tracker
   using IDX = BicycleMotionModel::IDX;
 
 public:
-  BigVehicleTracker(
-    const rclcpp::Time & time, const autoware_perception_msgs::msg::DetectedObject & object,
+  VehicleTracker(
+    const object_model::ObjectModel & object_model, const rclcpp::Time & time,
+    const autoware_perception_msgs::msg::DetectedObject & object,
     const geometry_msgs::msg::Transform & self_transform, const size_t channel_size,
     const uint & channel_index);
 
@@ -75,4 +75,4 @@ class BigVehicleTracker : public Tracker
 
 }  // namespace autoware::multi_object_tracker
 
-#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__VEHICLE_TRACKER_HPP_
diff --git a/...n/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp b/...n/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp
@@ -20,13 +20,12 @@
 #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__TRACKER_HPP_
 
 #include "model/bicycle_tracker.hpp"
-#include "model/big_vehicle_tracker.hpp"
 #include "model/multiple_vehicle_tracker.hpp"
-#include "model/normal_vehicle_tracker.hpp"
 #include "model/pass_through_tracker.hpp"
 #include "model/pedestrian_and_bicycle_tracker.hpp"
 #include "model/pedestrian_tracker.hpp"
 #include "model/tracker_base.hpp"
 #include "model/unknown_tracker.hpp"
+#include "model/vehicle_tracker.hpp"
 
 #endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__TRACKER_HPP_