Autoware.Auto
autoware::perception::tracking::MultiObjectTracker< TrackCreatorT > Class Template Reference

A class for multi-object tracking. More...

#include <multi_object_tracker.hpp>

Public Member Functions

 MultiObjectTracker (MultiObjectTrackerOptions options, TrackCreatorT track_creator, const tf2::BufferCore &tf2_buffer)
 Constructor. More...
 
DetectedObjectsUpdateResult update (const DetectedObjectsMsg &detections, const nav_msgs::msg::Odometry &detection_frame_odometry)
 Update the tracks with the specified detections and return the tracks at the current timestamp. More...
 
DetectedObjectsUpdateResult update (const ClustersMsg &incoming_clusters, const nav_msgs::msg::Odometry &detection_frame_odometry)
 Update the tracks from incoming clusters. More...
 
void update (const ClassifiedRoiArrayMsg &rois)
 Update the tracks with the specified detections. More...
 
void TRACKING_PUBLIC update (const ClassifiedRoiArrayMsg &)
 

Related Functions

(Note that these are not member functions.)

template<class TrackCreatorT >
DetectedObjectsUpdateResult update (const DetectedObjects &detections, const nav_msgs::msg::Odometry &detection_frame_odometry)
 

Detailed Description

template<class TrackCreatorT>
class autoware::perception::tracking::MultiObjectTracker< TrackCreatorT >

A class for multi-object tracking.

Constructor & Destructor Documentation

◆ MultiObjectTracker()

template<class TrackCreatorT >
autoware::perception::tracking::MultiObjectTracker< TrackCreatorT >::MultiObjectTracker ( MultiObjectTrackerOptions  options,
TrackCreatorT  track_creator,
const tf2::BufferCore &  tf2_buffer 
)
explicit

Constructor.

Member Function Documentation

◆ update() [1/4]

void TRACKING_PUBLIC autoware::perception::tracking::MultiObjectTracker< TrackCreator< LidarOnlyPolicy > >::update ( const ClassifiedRoiArrayMsg &  )

◆ update() [2/4]

template<class TrackCreatorT >
void autoware::perception::tracking::MultiObjectTracker< TrackCreatorT >::update ( const ClassifiedRoiArrayMsg &  rois)

Update the tracks with the specified detections.

Parameters
[in]roisAn array of vision detections.

◆ update() [3/4]

template<class TrackCreatorT >
DetectedObjectsUpdateResult autoware::perception::tracking::MultiObjectTracker< TrackCreatorT >::update ( const ClustersMsg &  incoming_clusters,
const nav_msgs::msg::Odometry &  detection_frame_odometry 
)

Update the tracks from incoming clusters.

Parameters
[in]incoming_clustersThe incoming clusters
[in]detection_frame_odometryAn odometry message for the clusters frame in the tracking frame, which is defined in MultiObjectTrackerOptions.
Returns
A result object containing tracks, unless an error occurred.

◆ update() [4/4]

template<class TrackCreatorT >
DetectedObjectsUpdateResult autoware::perception::tracking::MultiObjectTracker< TrackCreatorT >::update ( const DetectedObjectsMsg &  detections,
const nav_msgs::msg::Odometry &  detection_frame_odometry 
)

Update the tracks with the specified detections and return the tracks at the current timestamp.

Warning
For now these detections are assumed to have come from clusters. A different set of messages is needed to change this right now.
Parameters
[in]detectionsAn array of detections.
[in]detection_frame_odometryAn odometry message for the detection frame in the tracking frame, which is defined in MultiObjectTrackerOptions.
Returns
A result object containing tracks, unless an error occurred.

Friends And Related Function Documentation

◆ update()

template<class TrackCreatorT >
DetectedObjectsUpdateResult update ( const DetectedObjects detections,
const nav_msgs::msg::Odometry &  detection_frame_odometry 
)
related

The documentation for this class was generated from the following files: