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| 1 | +// Copyright 2024 TIER IV, Inc. |
| 2 | +// |
| 3 | +// Licensed under the Apache License, Version 2.0 (the "License"); |
| 4 | +// you may not use this file except in compliance with the License. |
| 5 | +// You may obtain a copy of the License at |
| 6 | +// |
| 7 | +// http://www.apache.org/licenses/LICENSE-2.0 |
| 8 | +// |
| 9 | +// Unless required by applicable law or agreed to in writing, software |
| 10 | +// distributed under the License is distributed on an "AS IS" BASIS, |
| 11 | +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 12 | +// See the License for the specific language governing permissions and |
| 13 | +// limitations under the License. |
| 14 | + |
| 15 | +#ifndef MULTI_OBJECT_TRACKER__DEBUGGER__DEBUG_OBJECT_HPP_ |
| 16 | +#define MULTI_OBJECT_TRACKER__DEBUGGER__DEBUG_OBJECT_HPP_ |
| 17 | + |
| 18 | +#include "multi_object_tracker/tracker/model/tracker_base.hpp" |
| 19 | + |
| 20 | +#include <rclcpp/rclcpp.hpp> |
| 21 | +#include <tier4_autoware_utils/ros/uuid_helper.hpp> |
| 22 | + |
| 23 | +#include "unique_identifier_msgs/msg/uuid.hpp" |
| 24 | +#include <autoware_auto_perception_msgs/msg/detected_objects.hpp> |
| 25 | +#include <autoware_auto_perception_msgs/msg/tracked_objects.hpp> |
| 26 | +#include <geometry_msgs/msg/point.hpp> |
| 27 | +#include <visualization_msgs/msg/marker_array.hpp> |
| 28 | + |
| 29 | +#include <boost/functional/hash.hpp> |
| 30 | +#include <boost/uuid/uuid.hpp> |
| 31 | +#include <boost/uuid/uuid_generators.hpp> |
| 32 | + |
| 33 | +#include <list> |
| 34 | +#include <memory> |
| 35 | +#include <string> |
| 36 | +#include <unordered_map> |
| 37 | +#include <unordered_set> |
| 38 | +#include <vector> |
| 39 | + |
| 40 | +struct ObjectData |
| 41 | +{ |
| 42 | + rclcpp::Time time; |
| 43 | + |
| 44 | + // object uuid |
| 45 | + boost::uuids::uuid uuid; |
| 46 | + int uuid_int; |
| 47 | + std::string uuid_str; |
| 48 | + |
| 49 | + // association link, pair of coordinates |
| 50 | + // tracker to detection |
| 51 | + geometry_msgs::msg::Point tracker_point; |
| 52 | + geometry_msgs::msg::Point detection_point; |
| 53 | + bool is_associated{false}; |
| 54 | + |
| 55 | + // existence probabilities |
| 56 | + std::vector<float> existence_vector; |
| 57 | + |
| 58 | + // detection channel id |
| 59 | + uint channel_id; |
| 60 | +}; |
| 61 | + |
| 62 | +class TrackerObjectDebugger |
| 63 | +{ |
| 64 | +public: |
| 65 | + explicit TrackerObjectDebugger(std::string frame_id); |
| 66 | + |
| 67 | +private: |
| 68 | + bool is_initialized_{false}; |
| 69 | + std::string frame_id_; |
| 70 | + visualization_msgs::msg::MarkerArray markers_; |
| 71 | + std::unordered_set<int> current_ids_; |
| 72 | + std::unordered_set<int> previous_ids_; |
| 73 | + rclcpp::Time message_time_; |
| 74 | + |
| 75 | + std::vector<ObjectData> object_data_list_; |
| 76 | + std::list<int32_t> unused_marker_ids_; |
| 77 | + int32_t marker_id_ = 0; |
| 78 | + std::vector<std::vector<ObjectData>> object_data_groups_; |
| 79 | + |
| 80 | + std::vector<std::string> channel_names_; |
| 81 | + |
| 82 | +public: |
| 83 | + void setChannelNames(const std::vector<std::string> & channel_names) |
| 84 | + { |
| 85 | + channel_names_ = channel_names; |
| 86 | + } |
| 87 | + void collect( |
| 88 | + const rclcpp::Time & message_time, const std::list<std::shared_ptr<Tracker>> & list_tracker, |
| 89 | + const uint & channel_index, |
| 90 | + const autoware_auto_perception_msgs::msg::DetectedObjects & detected_objects, |
| 91 | + const std::unordered_map<int, int> & direct_assignment, |
| 92 | + const std::unordered_map<int, int> & reverse_assignment); |
| 93 | + |
| 94 | + void reset(); |
| 95 | + void draw( |
| 96 | + const std::vector<std::vector<ObjectData>> object_data_groups, |
| 97 | + visualization_msgs::msg::MarkerArray & marker_array) const; |
| 98 | + void process(); |
| 99 | + void getMessage(visualization_msgs::msg::MarkerArray & marker_array) const; |
| 100 | +}; |
| 101 | + |
| 102 | +#endif // MULTI_OBJECT_TRACKER__DEBUGGER__DEBUG_OBJECT_HPP_ |
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