feat(tracking_object_merger): merge tracked object. especially for far radar object and conventional lidar object

[YoshiRi]

Description

Added tracking object merger package.
Currently we add only decorative tracked object merger, which aims to merge sub object (usually radar far tracking) into main object.

The outline of newly added node is shown as below:

time sync

Time synchronization is processed with interpolation/prediction function.

data association

Compared to conventional data association, max_velocity_difference gate is newly added.
This aims to prevent the unintended association between static lidar object and false positive radar moving object.

Also, this package use different data association parameters depends on input sensor and object observation state.

tracklet management

This package uses existence probability to manage tracklet.
Largest difference from other tracker packages in autoware is that it has two threshold; publish_threshold and remove_threshold.

Therefore it can keep object not which does not have enough confidence.

Related links

• TIER IV INTERNAL LINK: Slide
• TIER IV INTERNAL TICKET

Tests performed

Tested with odaiba data.
Sample in youtube.

Notes for reviewers

Interface changes

Effects on system behavior

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Summary by CodeRabbit

Release Notes:

• New Feature: Added functionality for the tracking_object_merger package, including data association, solver interfaces, merger policies, tracker state, and utility functions.
• Bug fix: Modified the name attribute of a <node> element in a launch file to avoid potential conflicts with other parts of the system.
• Documentation: Added README documentation for the tracking_object_merger package.
• Chore: Updated the CMakeLists.txt file to include necessary packages and directories.
• Chore: Defined package information in the package.xml file.

"Code changes dance,
Tracking objects in a trance.
New features emerge,
Bugs take a purge.
With joy we enhance!"

[codecov]

Codecov Report

Attention: 516 lines in your changes are missing coverage. Please review.

Comparison is base (c508aa7) 14.78% compared to head (d564b31) 0.00%.
Report is 28 commits behind head on main.

Additional details and impacted files

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##             main   #4340       +/-   ##
==========================================
- Coverage   14.78%   0.00%   -14.79%     
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  Files        1644       9     -1635     
  Lines      113948     516   -113432     
  Branches    35160       0    -35160     
==========================================
- Hits        16850       0    -16850     
+ Misses      78143     516    -77627     
+ Partials    18955       0    -18955     

Flag	Coverage Δ
differential	0.00% <0.00%> (?)
total	?

Files	Coverage Δ
...bject_merger/data_association/data_association.hpp	0.00% <0.00%> (ø)
...association/solver/mu_successive_shortest_path.hpp	0.00% <0.00%> (ø)
...acking_object_merger/decorative_tracker_merger.hpp	0.00% <0.00%> (ø)
...ude/tracking_object_merger/utils/tracker_state.hpp	0.00% <0.00%> (ø)
...rtest_path/mu_successive_shortest_path_wrapper.cpp	0.00% <0.00%> (ø)
...t_merger/src/data_association/data_association.cpp	0.00% <0.00%> (ø)
...tracking_object_merger/src/utils/tracker_state.cpp	0.00% <0.00%> (ø)
...ception/tracking_object_merger/src/utils/utils.cpp	0.00% <0.00%> (ø)
...ng_object_merger/src/decorative_tracker_merger.cpp	0.00% <0.00%> (ø)

... and 1644 files with indirect coverage changes

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[github-actions]

CodeRabbit

Walkthrough

The changes include modifications to the radar_object_tracker launch file, additions of new files and functionality related to the tracking_object_merger package, addition of a launch file for the tracking_object_merger package, updates to the package.xml file, and additions of new source files implementing the MuSSP class and the TrackerState class.

Changes

File	Summary
perception/radar_object_tracker/launch/radar_object_tracker.launch.xml	The name attribute of a <node> element in the launch file is modified. The value is changed from "radar_object_tracker" to "$(anon radar_object_tracker)". This change may affect the behavior of the code if there are other parts of the system that rely on the specific name of this node.
perception/tracking_object_merger/CMakeLists.txt perception/tracking_object_merger/README.md perception/tracking_object_merger/include/tracking_object_merger/data_association/data_association.hpp perception/tracking_object_merger/include/tracking_object_merger/data_association/solver/gnn_solver.hpp perception/tracking_object_merger/include/tracking_object_merger/data_association/solver/gnn_solver_interface.hpp perception/tracking_object_merger/include/tracking_object_merger/data_association/solver/mu_successive_shortest_path.hpp perception/tracking_object_merger/include/tracking_object_merger/data_association/solver/successive_shortest_path.hpp perception/tracking_object_merger/include/tracking_object_merger/decorative_tracker_merger.hpp perception/tracking_object_merger/include/tracking_object_merger/utils/tracker_state.hpp perception/tracking_object_merger/include/tracking_object_merger/utils/utils.hpp	These diffs introduce new files and functionality related to the tracking_object_merger package. They include source files, header files, and README documentation for data association, solver interfaces, merger policies, tracker state, and utility functions. The changesets also update the CMakeLists.txt file to include the necessary packages and directories.
perception/tracking_object_merger/launch/decorative_tracker_merger.launch.xml	A launch file is added for the tracking_object_merger package. It defines several arguments and launches the decorative_tracker_merger node with the specified parameters. The launch file also includes remappings for input and output topics, as well as parameters for data association matrix, merge options, logging enablement, and logging file path.
perception/tracking_object_merger/package.xml	An XML file that defines the package information for the tracking_object_merger module. It includes dependencies on various packages and specifies the license. No changes to the logic or functionality of the code are present.
perception/tracking_object_merger/src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp	A new source file mu_successive_shortest_path.hpp is added that implements the maximizeLinearAssignment function in the MuSSP class. The function takes a cost matrix as input and solves the maximum linear assignment problem using the muSSP algorithm. The result is stored in two unordered maps: direct_assignment and reverse_assignment. The implementation relies on the solve_muSSP function from the mussp library.
perception/tracking_object_merger/src/utils/tracker_state.cpp	This diff introduces a new class TrackerState and a function getTrackedObjectsFromTrackerStates. The TrackerState class represents the state of a tracked object and provides methods for prediction and updating. The getTrackedObjectsFromTrackerStates function converts a vector of TrackerState objects into a TrackedObjects message.

[github-actions]

CodeRabbit

Commits

Files that changed from the base of the PR and between ab0027f and aa4e9ba commits.

Files selected (19)

• perception/radar_object_tracker/launch/radar_object_tracker.launch.xml (1)
• perception/tracking_object_merger/CMakeLists.txt (1)
• perception/tracking_object_merger/README.md (1)
• perception/tracking_object_merger/include/tracking_object_merger/data_association/data_association.hpp (1)
• perception/tracking_object_merger/include/tracking_object_merger/data_association/solver/gnn_solver.hpp (1)
• perception/tracking_object_merger/include/tracking_object_merger/data_association/solver/gnn_solver_interface.hpp (1)
• perception/tracking_object_merger/include/tracking_object_merger/data_association/solver/mu_successive_shortest_path.hpp (1)
• perception/tracking_object_merger/include/tracking_object_merger/data_association/solver/successive_shortest_path.hpp (1)
• perception/tracking_object_merger/include/tracking_object_merger/decorative_tracker_merger.hpp (1)
• perception/tracking_object_merger/include/tracking_object_merger/utils/tracker_state.hpp (1)
• perception/tracking_object_merger/include/tracking_object_merger/utils/utils.hpp (1)
• perception/tracking_object_merger/launch/decorative_tracker_merger.launch.xml (1)
• perception/tracking_object_merger/package.xml (1)
• perception/tracking_object_merger/src/data_association/data_association.cpp (1)
• perception/tracking_object_merger/src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp (1)
• perception/tracking_object_merger/src/data_association/successive_shortest_path/successive_shortest_path.cpp (1)
• perception/tracking_object_merger/src/decorative_tracker_merger.cpp (1)
• perception/tracking_object_merger/src/utils/tracker_state.cpp (1)
• perception/tracking_object_merger/src/utils/utils.cpp (1)

Files ignored due to filter (2)

• perception/tracking_object_merger/config/data_association_matrix.param.yaml
• perception/tracking_object_merger/config/decorative_tracker_merger_policy.param.yaml

Files not summarized due to errors (4)

• perception/tracking_object_merger/src/data_association/data_association.cpp (diff tokens exceeds limit)
• perception/tracking_object_merger/src/data_association/successive_shortest_path/successive_shortest_path.cpp (diff tokens exceeds limit)
• perception/tracking_object_merger/src/decorative_tracker_merger.cpp (diff tokens exceeds limit)
• perception/tracking_object_merger/src/utils/utils.cpp (diff tokens exceeds limit)

Files skipped from review due to trivial changes (12)

• perception/tracking_object_merger/README.md
• perception/tracking_object_merger/include/tracking_object_merger/data_association/solver/gnn_solver.hpp
• perception/tracking_object_merger/include/tracking_object_merger/utils/tracker_state.hpp
• perception/tracking_object_merger/include/tracking_object_merger/utils/utils.hpp
• perception/tracking_object_merger/package.xml
• perception/tracking_object_merger/include/tracking_object_merger/data_association/data_association.hpp (diff too large)
• perception/tracking_object_merger/include/tracking_object_merger/decorative_tracker_merger.hpp (diff too large)
• perception/tracking_object_merger/src/data_association/data_association.cpp (diff too large)
• perception/tracking_object_merger/src/data_association/successive_shortest_path/successive_shortest_path.cpp (diff too large)
• perception/tracking_object_merger/src/decorative_tracker_merger.cpp (diff too large)
• perception/tracking_object_merger/src/utils/tracker_state.cpp (diff too large)
• perception/tracking_object_merger/src/utils/utils.cpp (diff too large)

Review comments generated (18)

• Review: 14
• LGTM: 4

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[YoshiRi]

@yukkysaito I resolved all comments by coderabbit, so could you review this PR again?

[miursh]

[imo]
Could you please correct/resolve the spelling errors here and in some of the code?

[YoshiRi]

Thanks. I fixed this comment in ff4b3c8. (BTW -Wconversion is not spelling miss.)

[miursh]

@YoshiRi
Thanks! Even if it's not miss, we should not leave the error as it is.
Maybe adding comment like # cspell:ignore SOMEWORD or adding word to the word dictionary is good way to resolve this.

[yukkysaito]

LGTM