refactor(multi_object_tracker): internal message driven process #10203
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #10203 +/- ##
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+ Coverage 26.22% 26.25% +0.03%
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Files 1378 1378
Lines 107415 107286 -129
Branches 41391 41377 -14
==========================================
Hits 28168 28168
+ Misses 76241 76112 -129
Partials 3006 3006
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…n handling feat(multi_object_tracker): introduce InputChannel struct for input channel configuration refactor(multi_object_tracker): improve marker handling and initialization in TrackerObjectDebugger feat(multi_object_tracker): enhance InputChannel with trust flags for object properties refactor(multi_object_tracker): remove unused channel_size parameter from tracker constructors feat(multi_object_tracker): update InputChannel flags to trust object extension and classification fix(multi_object_tracker): replace channel.index with channel_index for consistency feat(multi_object_tracker): update TrackerObjectDebugger and TrackerProcessor to accept channels_config parameter refactor(multi_object_tracker): remove redundant existence probability initialization from tracker constructors feat(multi_object_tracker): integrate data association into TrackerProcessor and add associate method feat(multi_object_tracker): enhance updateWithMeasurement to include channel_info for improved classification handling refactor(multi_object_tracker): replace object_id with uuid in DynamicObject and related classes fix(multi_object_tracker): update UUID handling in Tracker to use uuid_msg for consistency refactor(multi_object_tracker): simplify pose and covariance handling in tracker classes refactor(multi_object_tracker): replace pose_with_covariance with separate pose and covariance attributes in DynamicObject refactor: remove z state from tracker. it will uses object state refactor(multi_object_tracker): streamline object handling in trackers and remove unnecessary shape processing refactor(multi_object_tracker): remove z position handling from trackers and update object kinematics structure refactor(multi_object_tracker): remove BoundingBox structure from trackers and implement object extension limits refactor(multi_object_tracker): remove unnecessary blank lines in tracker getTrackedObject methods refactor(multi_object_tracker): simplify input channel configuration by removing trust flags and consolidating parameters Signed-off-by: Taekjin LEE <[email protected]>
…ify tracker update logic Signed-off-by: Taekjin LEE <[email protected]>
…object tracking logic Signed-off-by: Taekjin LEE <[email protected]>
…_msgs::msg::Point for anchor vectors Signed-off-by: Taekjin LEE <[email protected]>
Signed-off-by: Taekjin LEE <[email protected]>
…tion signature and update related logic Signed-off-by: Taekjin LEE <[email protected]> refactor(multi_object_tracker): remove self_transform parameter from measure and update methods refactor(multi_object_tracker): update calcAnchorPointOffset function signature and streamline object handling refactor(multi_object_tracker): set shape type to BOUNDING_BOX for object trackers
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Description
refactor tracker process by internally defined structure messages
channel_sizeis removedself_transformpassed to all of the trackers is removedanchor_pointfor vehicle tracking is integrated to DynamicObject classgetNearestCornerOrSurfacefor all inputs. it is moved from the vehicle trackerRelated links
Parent Issue:
How was this PR tested?
TIER IV INTERNAL
123/123 passed
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.