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refactor(multi_object_tracker): define motion model class (#6587)
* fix: define function to adjust object yaw angle for ekf update
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* chore: refactoring
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* feat: update tracking offset to object position
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: enlarge yaw noise when the orientation is unknown
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: rearrange obj extension, noise model, observation vector length
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* chore: grouping part of codes
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: separate object pre-process getUpdatingObject
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: bicycle tracker object preprocessing
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* feat: separated motion model class, not tested
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* feat: add motion model
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* feat: replace tracker to motion model class
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* feat: normal vehicle tracker replace to motion model
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* feat: big vehicle tracker is replaced by motion model
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* feat: bicycle tracker replace by motion model
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* chore: remove non-used members
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* feat: add CTRV motion model and implement it to pedestrian tracker
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* chore: refactoring parameters
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: object initialization
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* chore: grouping param setting
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* feat: create cv motion model, not tested
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* feat: implementing unknown tracker, process is dying
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: align number precisions to double
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: resolve overflow issue by including proper header files
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: missing twist cov
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: limit too large dt on unknown tracker, set size gain to 0.1
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: set parameter before init
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* chore: fix init to initialize
chore: fix init to initialize
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* feat: motion model base class
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* feat: common methods to the base class
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: access to state vector
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: remove not-used tracker's last_update_time_ member
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* Revert "fix: remove not-used tracker's last_update_time_ member"
This reverts commit bd8aabb.
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: header cleanup
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: relocate motion models
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: timestamp const
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: exception when object couldn't be predicted
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: remove last_update_time_ member
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: set minimum size, to avoid iou error/overflow
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: rollback tracking size and offset algorithm
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: set minimum pedestrian size
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: adjust minimum sizes to 0.3m
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* chore: cleanup unused members
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
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Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
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