fix(multi_object_tracker): tracker update for bugfix on unstable motorbike-cyclist-pedetrian tracking result #1194
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…error and overflow on IoU calculation (autowarefoundation#6597) * fix: set object minimum size limits Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: object shape conversion, from cylinder to bbox Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: adjust minimum sizes to 0.3 m The minimum size is unified to a small number (0.3 m) to avoid side-effect of tracking. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…undation#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> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix: add cspell ignore for CTRV * Update perception/multi_object_tracker/CMakeLists.txt * Update perception/multi_object_tracker/CMakeLists.txt * Update perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp * Update perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp * Update perception/multi_object_tracker/src/tracker/motion_model/bicycle_motion_model.cpp
…ntended (autowarefoundation#6611) * bugfix: mot multi-step prediction is not work as intended. back to one-step prediction. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: remove comment-out codes Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: prediction to use variable kalman filter a bug was found on `predictStateStep` methods * intention: predict the future state of the variable kalman filter `ekf` * bug: using the member kalman filter `ekf_` * fix: get the state vector from the variable kalman filter `ekf` Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…ocess (autowarefoundation#6607) * feat: object class filter Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: set a member private Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: last filtered label is not useful, remove Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: multiply gain for new class Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: algorithm explanation Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: revise the filtering process flow 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>
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Thank you I will check ant merge to beta/v0.20.1.5 after creating the branch. |
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Description
This cherry-picks are for latest tracker updates to fix unstable motorbike-cyclist-pedetrian tracking result, described in the issue ticket.
Related links
Issue ticket https://tier4.atlassian.net/browse/RT1-5645
Merged Original PRs
autowarefoundation#6597
autowarefoundation#6587
autowarefoundation#6606
autowarefoundation#6611
autowarefoundation#6607
Tests performed
Tested on a local recompute.
Notes for reviewers
Interface changes
Effects on system behavior
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