feat(multi_object_tracker): tracker refactoring #7271

technolojin · 2024-06-05T04:31:28Z

Description

debug: bicycle tracker object size update measureWithShape
The incoming object size was not used, but default value was.
chore: refactoring utils.hpp
By the changes of above, unused functions are removed.
Also, the covariance indexes are replaced by indexes definded by tier4_autoware_utils. It does not change actual implementation.
chore: overall refactoring to resolve clang-tidy warnings (not everything)

This PR will follow merge of PR #7170

Tests performed

Tested under TIER IV evaluator
Test result : TIER IV INTERNAL sim_tracking 20/20

Effects on system behavior

Should not be changed.

Interface changes

Not applicable

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mergify · 2024-06-05T04:32:03Z

⚠️ The sha of the head commit of this PR conflicts with #7170. Mergify cannot evaluate rules on this PR. ⚠️

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

yukkysaito

LGTM

) * feat: separate filters Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: object validator to modular Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: replace xyzrpy covariance index Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactor tracker class members Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactor Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactoring destructor Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactoring getUpdatingObject Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactoring object size checker Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: debugger delay calculation order is fixed Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: bicycle size update bug fix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: renamed message package Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactoring Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: object parameter class Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactor includes Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: initial impl. of object model Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: impl. object model to bicycle, big, normal Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: impl. object model to pedestrian Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: impl. cont Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: fix missing refactoring Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: align unit of angles, yaw rates Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: rename tier4_autoware_utils to autoware_universe_utils Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: missing unit conversion Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: sources Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: Update include and import statements Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: unit convert bug Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: update to autoware::universe_utils Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: mis-implementation of process noise Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>

) * feat: separate filters Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: object validator to modular Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: replace xyzrpy covariance index Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactor tracker class members Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactor Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactoring destructor Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactoring getUpdatingObject Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactoring object size checker Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: debugger delay calculation order is fixed Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: bicycle size update bug fix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: renamed message package Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactoring Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: object parameter class Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactor includes Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: initial impl. of object model Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: impl. object model to bicycle, big, normal Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: impl. object model to pedestrian Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: impl. cont Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: fix missing refactoring Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: align unit of angles, yaw rates Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: rename tier4_autoware_utils to autoware_universe_utils Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: missing unit conversion Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: sources Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: Update include and import statements Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: unit convert bug Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: update to autoware::universe_utils Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: mis-implementation of process noise Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

) * feat: separate filters Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: object validator to modular Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: replace xyzrpy covariance index Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactor tracker class members Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactor Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactoring destructor Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactoring getUpdatingObject Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactoring object size checker Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: debugger delay calculation order is fixed Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: bicycle size update bug fix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: renamed message package Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactoring Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: object parameter class Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactor includes Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: initial impl. of object model Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: impl. object model to bicycle, big, normal Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: impl. object model to pedestrian Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: impl. cont Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: fix missing refactoring Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: align unit of angles, yaw rates Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: rename tier4_autoware_utils to autoware_universe_utils Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: missing unit conversion Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: sources Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: Update include and import statements Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: unit convert bug Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: update to autoware::universe_utils Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: mis-implementation of process noise Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat: separate filters Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: object validator to modular Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: replace xyzrpy covariance index Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactor tracker class members Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactor Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactoring destructor Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactoring getUpdatingObject Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactoring object size checker Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: debugger delay calculation order is fixed Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: bicycle size update bug fix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: renamed message package Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactoring Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: object parameter class Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactor includes Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: initial impl. of object model Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: impl. object model to bicycle, big, normal Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: impl. object model to pedestrian Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: impl. cont Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: fix missing refactoring Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: align unit of angles, yaw rates Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: rename tier4_autoware_utils to autoware_universe_utils Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: missing unit conversion Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: sources Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: Update include and import statements Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: unit convert bug Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: update to autoware::universe_utils Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: mis-implementation of process noise Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

github-actions bot added the component:perception Advanced sensor data processing and environment understanding. (auto-assigned) label Jun 5, 2024

technolojin force-pushed the feat/mot_tracker_refactoring branch 7 times, most recently from acd5199 to 74f4594 Compare June 11, 2024 08:52

github-actions bot added the component:launch Launch files, scripts and initialization tools. (auto-assigned) label Jun 11, 2024

technolojin force-pushed the feat/mot_tracker_refactoring branch from 74f4594 to f30060e Compare June 13, 2024 00:54

github-actions bot removed the component:launch Launch files, scripts and initialization tools. (auto-assigned) label Jun 13, 2024

technolojin mentioned this pull request Jun 18, 2024

refactor(multi_object_tracker): apply clang-tidy check #7550

Closed

7 tasks

technolojin force-pushed the feat/mot_tracker_refactoring branch from 87bf4c9 to 2aba1eb Compare June 18, 2024 06:50

technolojin self-assigned this Jun 18, 2024

technolojin force-pushed the feat/mot_tracker_refactoring branch 2 times, most recently from cb1845a to 8008bd2 Compare June 20, 2024 02:29

technolojin added 13 commits June 20, 2024 11:31

feat: separate filters

d6e50a9

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

fix: object validator to modular

24f66cd

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

fix: replace xyzrpy covariance index

c5eeaa5

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

chore: refactor tracker class members

68d9964

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

chore: refactor

6a752a8

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

chore: refactoring destructor

a75daa8

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

chore: refactoring getUpdatingObject

0f9089b

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

chore: refactoring object size checker

4b0e6cf

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

fix: debugger delay calculation order is fixed

b963c09

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

fix: bicycle size update bug fix

34057df

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

fix: renamed message package

daa4e16

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

chore: refactoring

8cf586a

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

feat: object parameter class

74f08da

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

technolojin and others added 15 commits June 20, 2024 11:32

feat: initial impl. of object model

9fb235c

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

feat: impl. object model to bicycle, big, normal

cbb1a58

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

feat: impl. object model to pedestrian

cb895a9

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

feat: impl. cont

716d1b8

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

style(pre-commit): autofix

2e86d09

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

chore: fix missing refactoring

9bdd911

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

fix: align unit of angles, yaw rates

ad97751

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

fix: rename tier4_autoware_utils to autoware_universe_utils

724dc8e

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

fix: missing unit conversion

b63596d

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

style(pre-commit): autofix

8cbb2f3

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

fix: sources

0f62e75

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

chore: Update include and import statements

b139ffd

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

fix: unit convert bug

0e84b4d

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

fix: update to autoware::universe_utils

10fdb99

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

fix: mis-implementation of process noise

3f20c98

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

technolojin force-pushed the feat/mot_tracker_refactoring branch from 8008bd2 to 3f20c98 Compare June 20, 2024 04:06

technolojin marked this pull request as ready for review June 21, 2024 05:33

technolojin requested review from YoshiRi and yukkysaito as code owners June 21, 2024 05:33

Merge branch 'main' into feat/mot_tracker_refactoring

893fdc5

yukkysaito approved these changes Jun 21, 2024

View reviewed changes

technolojin merged commit 6ac4b24 into autowarefoundation:main Jun 23, 2024
46 of 47 checks passed

technolojin deleted the feat/mot_tracker_refactoring branch July 26, 2024 02:23

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feat(multi_object_tracker): tracker refactoring #7271

feat(multi_object_tracker): tracker refactoring #7271

technolojin commented Jun 5, 2024 •

edited

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yukkysaito left a comment

feat(multi_object_tracker): tracker refactoring #7271

feat(multi_object_tracker): tracker refactoring #7271

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technolojin commented Jun 5, 2024 • edited Loading

Description

Tests performed

Effects on system behavior

Interface changes

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

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technolojin commented Jun 5, 2024 •

edited

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