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refactor(autoware_multi_object_tracker): define a new internal object class #9706

Merged

technolojin merged 24 commits into autowarefoundation:main from technolojin:feat/multi-obj-track/define-object-class

Dec 23, 2024

Contributor

technolojin commented Dec 20, 2024 •

edited

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Description

To enhance the tracking algorithm and make the process modular, a new object class DynamicObject is defined

DynamicObject replaces message type (DetectedObject and TrackedObject) variables in the core algorithms.
Object shape related functions are organized into shapes namespace. Functions of utils.hpp are moved into this.
Unused variables and includes are removed.

This PR do not contain any logical change.

Related links

Parent Issue:

Link

How was this PR tested?

TIER IV INTERNAL

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

technolojin self-assigned this

github-actions bot added component:perception tag:require-cuda-build-and-test labels

github-actions bot commented Dec 20, 2024 •

edited

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All required CI checks pass before marking the PR ready for review.

technolojin added the run:build-and-test-differential label

codecov bot commented Dec 23, 2024 •

edited

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Codecov Report

Attention: Patch coverage is 0% with 214 lines in your changes missing coverage. Please review.

Project coverage is 29.70%. Comparing base (4045fb3) to head (2bceb0f).
Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
...e_multi_object_tracker/lib/object_model/shapes.cpp	0.00%	72 Missing ⚠️
...re_multi_object_tracker/lib/object_model/types.cpp	0.00%	42 Missing ⚠️
...e_multi_object_tracker/src/processor/processor.cpp	0.00%	17 Missing ⚠️
...ject_tracker/lib/tracker/model/vehicle_tracker.cpp	0.00%	14 Missing ⚠️
...ject_tracker/lib/tracker/model/bicycle_tracker.cpp	0.00%	10 Missing ⚠️
...i_object_tracker/src/multi_object_tracker_node.cpp	0.00%	9 Missing ⚠️
...lti_object_tracker/src/processor/input_manager.cpp	0.00%	9 Missing ⚠️
...t_tracker/lib/tracker/model/pedestrian_tracker.cpp	0.00%	8 Missing ⚠️
...ject_tracker/lib/tracker/model/unknown_tracker.cpp	0.00%	7 Missing ⚠️
..._tracker/lib/uncertainty/uncertainty_processor.cpp	0.00%	7 Missing ⚠️
... and 7 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9706      +/-   ##
==========================================
- Coverage   29.75%   29.70%   -0.06%     
==========================================
  Files        1444     1447       +3     
  Lines      108722   108785      +63     
  Branches    42699    42670      -29     
==========================================
- Hits        32354    32315      -39     
- Misses      73185    73289     +104     
+ Partials     3183     3181       -2

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`29.77% <ø> (+0.02%)`	⬆️	Carriedforward from 9bc173c

*This pull request uses carry forward flags. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

technolojin added 20 commits

December 23, 2024 13:10


          feat: Add dynamic_object.hpp to object_model directory

26e3161

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>


          chore: Update autoware_perception_msgs include statements in associat…

c054154

…ion.hpp and dynamic_object.hpp

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>


          fix: replace object message type to the DynamicObject type

d1a9698

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>


          chore: Update autoware_perception_msgs include statements in associat…

013265f

…ion.hpp and dynamic_object.hpp

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>


          chore: add channel index to the DynamicObjects

8cf9b83

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>


          Revert "chore: add channel index to the DynamicObjects"

07df24a

This reverts commit c7e73f0.

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>


          fix: replace trackedobject in the process

210740e

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>


          fix: Replace transformObjects with shapes::transformObjects for objec…

c5c88fb

…t transformation

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>


          chore: add channel index to the DynamicObjects

95ec165

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>


          feat: separate shape related functions

0914fe1

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>


          chore: clean up utils.hpp

9a406df

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>


          chore: Update function signatures to use DynamicObjectList instead of…

00ab8ab

… DynamicObjects

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>


          chore: Add channel index to DynamicObject and DynamicObjectList

82f8941

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>


          chore: Refactor processor and debugger classes to remove channel_inde…

43456d1

…x parameter

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>


          chore: Refactor multiple_vehicle_tracker.cpp and debugger.cpp

9fc06e0

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>


          Refactor object tracker classes to remove self_transform parameter

771dfdc

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>


          Refactor object tracker classes to use shapes namespace for shape-rel…

bf1f4ab

…ated functions

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>


          Refactor object tracker classes to use types.hpp for object model types

5a00031

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>


          Refactor object tracker classes to remove unused utils.hpp

bdfaa80

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>


          Refactor object tracker classes to use types.hpp for object model types

6619fc8

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

technolojin force-pushed the feat/multi-obj-track/define-object-class branch from 95fe36b to 6619fc8 Compare

December 23, 2024 04:11

technolojin marked this pull request as ready for review

December 23, 2024 05:31

technolojin requested review from YoshiRi and yukkysaito as code owners

December 23, 2024 05:31

technolojin added 2 commits

December 23, 2024 14:33


          chore: rename to types.cpp

50a4191

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>


          rename getDynamicObject to toDynamicObject

69a0d31

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

yukkysaito reviewed

View reviewed changes

perception/autoware_multi_object_tracker/lib/object_model/shapes.cpp Outdated Show resolved Hide resolved


          Update perception/autoware_multi_object_tracker/lib/object_model/shap…

cffd502

…es.cpp

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

technolojin requested a review from yukkysaito

December 23, 2024 07:11

YoshiRi approved these changes

View reviewed changes

Contributor

YoshiRi left a comment

LGTM


          Merge branch 'main' into feat/multi-obj-track/define-object-class

2bceb0f

technolojin enabled auto-merge (squash)

December 23, 2024 23:39

technolojin merged commit 308eefb into autowarefoundation:main

35 checks passed

technolojin deleted the feat/multi-obj-track/define-object-class branch

December 24, 2024 00:13

kminoda pushed a commit to kminoda/autoware.universe that referenced this pull request


          refactor(autoware_multi_object_tracker): define a new internal object…

7f59987

… class (autowarefoundation#9706)

* feat: Add dynamic_object.hpp to object_model directory

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: Update autoware_perception_msgs include statements in association.hpp and dynamic_object.hpp

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: replace object message type to the DynamicObject type

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: Update autoware_perception_msgs include statements in association.hpp and dynamic_object.hpp

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: add channel index to the DynamicObjects

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Revert "chore: add channel index to the DynamicObjects"

This reverts commit c7e73f0.

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: replace trackedobject in the process

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: Replace transformObjects with shapes::transformObjects for object transformation

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: add channel index to the DynamicObjects

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: separate shape related functions

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: clean up utils.hpp

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: Update function signatures to use DynamicObjectList instead of DynamicObjects

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: Add channel index to DynamicObject and DynamicObjectList

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: Refactor processor and debugger classes to remove channel_index parameter

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: Refactor multiple_vehicle_tracker.cpp and debugger.cpp

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Refactor object tracker classes to remove self_transform parameter

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Refactor object tracker classes to use shapes namespace for shape-related functions

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Refactor object tracker classes to use types.hpp for object model types

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Refactor object tracker classes to remove unused utils.hpp

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Refactor object tracker classes to use types.hpp for object model types

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: rename to types.cpp

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* rename getDynamicObject to toDynamicObject

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Update perception/autoware_multi_object_tracker/lib/object_model/shapes.cpp

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

kyoichi-sugahara pushed a commit to kyoichi-sugahara/autoware.universe that referenced this pull request


          refactor(autoware_multi_object_tracker): define a new internal object…

4fbec3d

… class (autowarefoundation#9706)

* feat: Add dynamic_object.hpp to object_model directory

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: Update autoware_perception_msgs include statements in association.hpp and dynamic_object.hpp

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: replace object message type to the DynamicObject type

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: Update autoware_perception_msgs include statements in association.hpp and dynamic_object.hpp

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: add channel index to the DynamicObjects

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Revert "chore: add channel index to the DynamicObjects"

This reverts commit c7e73f0.

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: replace trackedobject in the process

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: Replace transformObjects with shapes::transformObjects for object transformation

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: add channel index to the DynamicObjects

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: separate shape related functions

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: clean up utils.hpp

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: Update function signatures to use DynamicObjectList instead of DynamicObjects

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: Add channel index to DynamicObject and DynamicObjectList

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: Refactor processor and debugger classes to remove channel_index parameter

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: Refactor multiple_vehicle_tracker.cpp and debugger.cpp

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Refactor object tracker classes to remove self_transform parameter

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Refactor object tracker classes to use shapes namespace for shape-related functions

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Refactor object tracker classes to use types.hpp for object model types

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Refactor object tracker classes to remove unused utils.hpp

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Refactor object tracker classes to use types.hpp for object model types

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: rename to types.cpp

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* rename getDynamicObject to toDynamicObject

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Update perception/autoware_multi_object_tracker/lib/object_model/shapes.cpp

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

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component:perception run:build-and-test-differential tag:require-cuda-build-and-test