feat(autoware_bytetrack3d): add new 3d multi-object tracking algorithm

[cyn-liu]

Description

ByteTrack3D is improved based on 2D tracking algorithm ByteTrack, mainly aims to perform 3D multi-object tracking.

Related links

related issue

How was this PR tested?

Tested.

Notes for reviewers

None.

Interface changes

Topic changes

Additions and removals

Change type	Topic Type	Topic Name	Message Type	Description
Added	Sub	in/objects	autoware_perception_msgs::msg::DetectedObjects	The detected objects with 3D bounding boxes
Added	Pub	out/objects	autoware_perception_msgs::msg::TrackedObjects	The 3D tracking bounding boxes

ROS Parameter Changes

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
Added	track_buffer_length	int	30	The frame count that a tracklet is considered to be lost

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 715 lines in your changes missing coverage. Please review.

Project coverage is 29.57%. Comparing base (f112f65) to head (a31a7d8).
Report is 585 commits behind head on main.

Files with missing lines	Patch %	Lines
perception/autoware_bytetrack3D/lib/src/strack.cpp	0.00%	206 Missing ⚠️
perception/autoware_bytetrack3D/lib/src/utils.cpp	0.00%	157 Missing ⚠️
perception/autoware_bytetrack3D/lib/src/lapjv.cpp	0.00%	136 Missing ⚠️
...tion/autoware_bytetrack3D/lib/src/byte_tracker.cpp	0.00%	110 Missing ⚠️
...tion/autoware_bytetrack3D/src/bytetrack3D_node.cpp	0.00%	47 Missing ⚠️
...erception/autoware_bytetrack3D/src/bytetrack3D.cpp	0.00%	43 Missing ⚠️
...on/autoware_bytetrack3D/lib/src/ykalman_filter.cpp	0.00%	16 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9298      +/-   ##
==========================================
- Coverage   29.81%   29.57%   -0.25%     
==========================================
  Files        1338     1345       +7     
  Lines      103300   104080     +780     
  Branches    40232    40363     +131     
==========================================
- Hits        30801    30780      -21     
- Misses      69512    70207     +695     
- Partials     2987     3093     +106     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	29.77% <ø> (-0.04%)	⬇️	Carriedforward from 245802e

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

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[xmfcx]

@cyn-liu could you share some information on how this new node can be tested? A bag file and instructions would be very helpful.

[cyn-liu]

could you share some information on how this new node can be tested? A bag file and instructions would be very helpful.

OK, I will upload the test bag and test video.

[cyn-liu]

We plan to refactor this PR, temporarily setting it as a draft.

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.