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

technolojin · 2024-12-20T09:59:45Z

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.

How was this PR tested?

TIER IV INTERNAL

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

github-actions · 2024-12-20T10:00:04Z

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codecov · 2024-12-23T04:07:14Z

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.

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Signed-off-by: Taekjin LEE <[email protected]>

…ion.hpp and dynamic_object.hpp Signed-off-by: Taekjin LEE <[email protected]>

Signed-off-by: Taekjin LEE <[email protected]>

…ion.hpp and dynamic_object.hpp Signed-off-by: Taekjin LEE <[email protected]>

Signed-off-by: Taekjin LEE <[email protected]>

This reverts commit c7e73f0. Signed-off-by: Taekjin LEE <[email protected]>

Signed-off-by: Taekjin LEE <[email protected]>

…t transformation Signed-off-by: Taekjin LEE <[email protected]>

Signed-off-by: Taekjin LEE <[email protected]>

… DynamicObjects Signed-off-by: Taekjin LEE <[email protected]>

Signed-off-by: Taekjin LEE <[email protected]>

…x parameter Signed-off-by: Taekjin LEE <[email protected]>

Signed-off-by: Taekjin LEE <[email protected]>

…ated functions Signed-off-by: Taekjin LEE <[email protected]>

Signed-off-by: Taekjin LEE <[email protected]>

perception/autoware_multi_object_tracker/lib/object_model/shapes.cpp

…es.cpp Co-authored-by: Yukihiro Saito <[email protected]>

YoshiRi

LGTM

… class (autowarefoundation#9706) * feat: Add dynamic_object.hpp to object_model directory Signed-off-by: Taekjin LEE <[email protected]> * chore: Update autoware_perception_msgs include statements in association.hpp and dynamic_object.hpp Signed-off-by: Taekjin LEE <[email protected]> * fix: replace object message type to the DynamicObject type Signed-off-by: Taekjin LEE <[email protected]> * chore: Update autoware_perception_msgs include statements in association.hpp and dynamic_object.hpp Signed-off-by: Taekjin LEE <[email protected]> * chore: add channel index to the DynamicObjects Signed-off-by: Taekjin LEE <[email protected]> * Revert "chore: add channel index to the DynamicObjects" This reverts commit c7e73f0. Signed-off-by: Taekjin LEE <[email protected]> * fix: replace trackedobject in the process Signed-off-by: Taekjin LEE <[email protected]> * fix: Replace transformObjects with shapes::transformObjects for object transformation Signed-off-by: Taekjin LEE <[email protected]> * chore: add channel index to the DynamicObjects Signed-off-by: Taekjin LEE <[email protected]> * feat: separate shape related functions Signed-off-by: Taekjin LEE <[email protected]> * chore: clean up utils.hpp Signed-off-by: Taekjin LEE <[email protected]> * chore: Update function signatures to use DynamicObjectList instead of DynamicObjects Signed-off-by: Taekjin LEE <[email protected]> * chore: Add channel index to DynamicObject and DynamicObjectList Signed-off-by: Taekjin LEE <[email protected]> * chore: Refactor processor and debugger classes to remove channel_index parameter Signed-off-by: Taekjin LEE <[email protected]> * chore: Refactor multiple_vehicle_tracker.cpp and debugger.cpp Signed-off-by: Taekjin LEE <[email protected]> * Refactor object tracker classes to remove self_transform parameter Signed-off-by: Taekjin LEE <[email protected]> * Refactor object tracker classes to use shapes namespace for shape-related functions Signed-off-by: Taekjin LEE <[email protected]> * Refactor object tracker classes to use types.hpp for object model types Signed-off-by: Taekjin LEE <[email protected]> * Refactor object tracker classes to remove unused utils.hpp Signed-off-by: Taekjin LEE <[email protected]> * Refactor object tracker classes to use types.hpp for object model types Signed-off-by: Taekjin LEE <[email protected]> * chore: rename to types.cpp Signed-off-by: Taekjin LEE <[email protected]> * rename getDynamicObject to toDynamicObject Signed-off-by: Taekjin LEE <[email protected]> * Update perception/autoware_multi_object_tracker/lib/object_model/shapes.cpp Co-authored-by: Yukihiro Saito <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]> Co-authored-by: Yukihiro Saito <[email protected]>

technolojin self-assigned this Dec 20, 2024

github-actions bot added component:perception Advanced sensor data processing and environment understanding. (auto-assigned) tag:require-cuda-build-and-test labels Dec 20, 2024

technolojin added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Dec 23, 2024

technolojin added 20 commits December 23, 2024 13:10

feat: Add dynamic_object.hpp to object_model directory

26e3161

Signed-off-by: Taekjin LEE <[email protected]>

chore: Update autoware_perception_msgs include statements in associat…

c054154

…ion.hpp and dynamic_object.hpp Signed-off-by: Taekjin LEE <[email protected]>

fix: replace object message type to the DynamicObject type

d1a9698

Signed-off-by: Taekjin LEE <[email protected]>

chore: Update autoware_perception_msgs include statements in associat…

013265f

…ion.hpp and dynamic_object.hpp Signed-off-by: Taekjin LEE <[email protected]>

chore: add channel index to the DynamicObjects

8cf9b83

Signed-off-by: Taekjin LEE <[email protected]>

Revert "chore: add channel index to the DynamicObjects"

07df24a

This reverts commit c7e73f0. Signed-off-by: Taekjin LEE <[email protected]>

fix: replace trackedobject in the process

210740e

Signed-off-by: Taekjin LEE <[email protected]>

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

c5c88fb

…t transformation Signed-off-by: Taekjin LEE <[email protected]>

chore: add channel index to the DynamicObjects

95ec165

Signed-off-by: Taekjin LEE <[email protected]>

feat: separate shape related functions

0914fe1

Signed-off-by: Taekjin LEE <[email protected]>

chore: clean up utils.hpp

9a406df

Signed-off-by: Taekjin LEE <[email protected]>

chore: Update function signatures to use DynamicObjectList instead of…

00ab8ab

… DynamicObjects Signed-off-by: Taekjin LEE <[email protected]>

chore: Add channel index to DynamicObject and DynamicObjectList

82f8941

Signed-off-by: Taekjin LEE <[email protected]>

chore: Refactor processor and debugger classes to remove channel_inde…

43456d1

…x parameter Signed-off-by: Taekjin LEE <[email protected]>

chore: Refactor multiple_vehicle_tracker.cpp and debugger.cpp

9fc06e0

Signed-off-by: Taekjin LEE <[email protected]>

Refactor object tracker classes to remove self_transform parameter

771dfdc

Signed-off-by: Taekjin LEE <[email protected]>

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

bf1f4ab

…ated functions Signed-off-by: Taekjin LEE <[email protected]>

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

5a00031

Signed-off-by: Taekjin LEE <[email protected]>

Refactor object tracker classes to remove unused utils.hpp

bdfaa80

Signed-off-by: Taekjin LEE <[email protected]>

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

6619fc8

Signed-off-by: Taekjin LEE <[email protected]>

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 <[email protected]>

rename getDynamicObject to toDynamicObject

69a0d31

Signed-off-by: Taekjin LEE <[email protected]>

yukkysaito reviewed Dec 23, 2024

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 <[email protected]>

technolojin requested a review from yukkysaito December 23, 2024 07:11

YoshiRi approved these changes Dec 23, 2024

View reviewed changes

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 Dec 23, 2024
35 checks passed

technolojin deleted the feat/multi-obj-track/define-object-class branch December 24, 2024 00:13

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

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

technolojin commented Dec 20, 2024 •

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

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

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technolojin commented Dec 20, 2024 • edited Loading

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Interface changes

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technolojin commented Dec 20, 2024 •

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