autoware::perception::tracking Namespace Reference

Namespaces
	detail
	details

Classes
class	Associated
	This class describes an associated object array of a certain message type. More...
struct	Association
	A struct that represents an association. It holds an enum that indicates the type of a match and an index of an object to which this association is matched. More...
struct	AssociatorResult
	Struct to store results after the assignment is done. More...
struct	CameraIntrinsics
	Camera intrinsic parameters. More...
class	CameraModel
	This model represents a camera in 3D space and can project 3D shapes into an image. More...
struct	ClassificationVariable
	A struct to create a variable type from a given uint8_t value. More...
class	DataAssociationConfig
	Class to create configuration parameters for data association. More...
class	DetectedObjectAssociator
	Class to perform data association between existing tracks and new detections using mahalanobis distance and hungarian assigner. More...
struct	DetectedObjectsUpdateResult
	Output of MultiObjectTracker::update. More...
class	GenericClassificationTracker
	A class for tracking classification information that works on any set of variables. More...
class	GreedyRoiAssociator
	Class to associate the detections and tracks in euclidean space to ROIs in image space on a first-come-first-serve manner. More...
struct	GreedyRoiAssociatorConfig
struct	IOUHeuristic
	Simple heuristic functor that returns the IoU between two shapes. More...
class	LidarClusterIfVisionPolicy
	Class implementing LidarIfVision track creation policy. More...
class	LidarOnlyPolicy
class	MultiObjectTracker
	A class for multi-object tracking. More...
struct	MultiObjectTrackerOptions
	Options for object tracking, with sensible defaults. More...
struct	Projection
struct	TrackCreationResult
	Struct to be used as the return value from track creation process. More...
class	TrackCreator
	Class to create new tracks based on a predefined policy and unassociated detections. More...
class	TrackedObject
	Internal class containing the object state and other information. More...
struct	TrackedObjects
	A collection of tracked objects. More...
struct	VisionPolicyConfig
	Struct defining configuration parameters for LidarIfVision policy. More...

Typedefs
using	ClassificationTracker = GenericClassificationTracker< ObjectClassificationState >
using	assigner_idx_t = autoware::fusion::hungarian_assigner::index_t
using	Associations = std::vector< Association >
using	ObjectsWithAssociations = Associated< autoware_auto_perception_msgs::msg::DetectedObjects >
using	RoisWithAssociations = Associated< autoware_auto_perception_msgs::msg::ClassifiedRoiArray >
using	TracksWithAssociations = Associated< autoware_auto_perception_msgs::msg::ClassifiedRoiArray >
using	ObjectClassificationState = common::state_vector::FloatState< ClassificationVariable< autoware_auto_perception_msgs::msg::ObjectClassification::UNKNOWN >, ClassificationVariable< autoware_auto_perception_msgs::msg::ObjectClassification::CAR >, ClassificationVariable< autoware_auto_perception_msgs::msg::ObjectClassification::TRUCK >, ClassificationVariable< autoware_auto_perception_msgs::msg::ObjectClassification::BUS >, ClassificationVariable< autoware_auto_perception_msgs::msg::ObjectClassification::TRAILER >, ClassificationVariable< autoware_auto_perception_msgs::msg::ObjectClassification::MOTORCYCLE >, ClassificationVariable< autoware_auto_perception_msgs::msg::ObjectClassification::BICYCLE >, ClassificationVariable< autoware_auto_perception_msgs::msg::ObjectClassification::PEDESTRIAN > >
	A common state used for classification in the tracker. More...

Enumerations
enum	TrackerUpdateStatus {   TrackerUpdateStatus::Ok, TrackerUpdateStatus::WentBackInTime, TrackerUpdateStatus::DetectionFrameMismatch, TrackerUpdateStatus::TrackerFrameMismatch,   TrackerUpdateStatus::FrameNotGravityAligned, TrackerUpdateStatus::InvalidShape }
	A return code for the tracker update. More...
enum	Matched { Matched::kNothing, Matched::kOtherDetection, Matched::kExistingTrack, Matched::kNewTrack }
	This enum holds various values that signify a match to a certain modality. More...
enum	TrackCreationPolicy { TrackCreationPolicy::LidarClusterOnly, TrackCreationPolicy::LidarClusterIfVision }

Functions
template<typename StateT >
static void	assert_indices_match_classification_constants ()
	Check that all the indices in the state vector correspond to the integral constant that the variable type represents. More...

Variables
constexpr uint16_t	MAX_NUM_TRACKS = 256U
	Maximum number of tracks possible in every timestep. More...
constexpr uint16_t	NUM_OBJ_POSE_DIM = 2U
	Number of dimensions needed to represent object position for tracking (x and y) More...
template class TRACKING_PUBLIC	MultiObjectTracker< TrackCreator< LidarOnlyPolicy > >
template class TRACKING_PUBLIC	MultiObjectTracker< TrackCreator< LidarClusterIfVisionPolicy > >

Typedef Documentation

assigner_idx_t

using autoware::perception::tracking::assigner_idx_t = typedef autoware::fusion::hungarian_assigner::index_t

Associations

using autoware::perception::tracking::Associations = typedef std::vector<Association>

ClassificationTracker

using autoware::perception::tracking::ClassificationTracker = typedef GenericClassificationTracker<ObjectClassificationState>

ObjectClassificationState

using autoware::perception::tracking::ObjectClassificationState = typedef common::state_vector::FloatState< ClassificationVariable<autoware_auto_perception_msgs::msg::ObjectClassification::UNKNOWN>, ClassificationVariable<autoware_auto_perception_msgs::msg::ObjectClassification::CAR>, ClassificationVariable<autoware_auto_perception_msgs::msg::ObjectClassification::TRUCK>, ClassificationVariable<autoware_auto_perception_msgs::msg::ObjectClassification::BUS>, ClassificationVariable<autoware_auto_perception_msgs::msg::ObjectClassification::TRAILER>, ClassificationVariable<autoware_auto_perception_msgs::msg::ObjectClassification::MOTORCYCLE>, ClassificationVariable<autoware_auto_perception_msgs::msg::ObjectClassification::BICYCLE>, ClassificationVariable<autoware_auto_perception_msgs::msg::ObjectClassification::PEDESTRIAN> >

A common state used for classification in the tracker.

ObjectsWithAssociations

using autoware::perception::tracking::ObjectsWithAssociations = typedef Associated<autoware_auto_perception_msgs::msg::DetectedObjects>

RoisWithAssociations

using autoware::perception::tracking::RoisWithAssociations = typedef Associated<autoware_auto_perception_msgs::msg::ClassifiedRoiArray>

TracksWithAssociations

using autoware::perception::tracking::TracksWithAssociations = typedef Associated<autoware_auto_perception_msgs::msg::ClassifiedRoiArray>

Enumeration Type Documentation

Matched

enum autoware::perception::tracking::Matched

strong

This enum holds various values that signify a match to a certain modality.

Enumerator
kNothing	Nothing was matched.
kOtherDetection	Matched another detection.
kExistingTrack	Matched an existing track.
kNewTrack	Matched a new track.

TrackCreationPolicy

enum autoware::perception::tracking::TrackCreationPolicy

strong

Enumerator
LidarClusterOnly	Create tracks from every unassociated lidar cluster.
LidarClusterIfVision	Create tracks from unassociated lidar clusters only if they have associated vision detections.

TrackerUpdateStatus

enum autoware::perception::tracking::TrackerUpdateStatus

strong

A return code for the tracker update.

Enumerator
Ok	Success.
WentBackInTime	The provided detections were older than the previous detections. The Kalman filter can only extrapolate forward, so this is an error.
DetectionFrameMismatch	The frame of the detections does not match the source frame of the transform.
TrackerFrameMismatch	The target frame of the transform does not match the frame in which the tracker operates.
FrameNotGravityAligned	The provided detections are not in a usable frame – the detection frame must be gravity-aligned.
InvalidShape	At least one of the provided detections has an invalid shape.

Function Documentation

assert_indices_match_classification_constants()

template<typename StateT >

static void autoware::perception::tracking::assert_indices_match_classification_constants ( )

inlinestatic

Check that all the indices in the state vector correspond to the integral constant that the variable type represents.

This check is needed to ensure that all the values from ObjectClassification constants are covered by the variables used in the state. The function itself does nothing important but it will not compile if there is a mismatch in variable values.

Template Parameters

StateT

A state that needs checking.

Variable Documentation

MAX_NUM_TRACKS

constexpr uint16_t autoware::perception::tracking::MAX_NUM_TRACKS = 256U

constexpr

Maximum number of tracks possible in every timestep.

MultiObjectTracker< TrackCreator< LidarClusterIfVisionPolicy > >

template class TRACKING_PUBLIC autoware::perception::tracking::MultiObjectTracker< TrackCreator< LidarClusterIfVisionPolicy > >

MultiObjectTracker< TrackCreator< LidarOnlyPolicy > >

template class TRACKING_PUBLIC autoware::perception::tracking::MultiObjectTracker< TrackCreator< LidarOnlyPolicy > >

NUM_OBJ_POSE_DIM

constexpr uint16_t autoware::perception::tracking::NUM_OBJ_POSE_DIM = 2U

constexpr

Number of dimensions needed to represent object position for tracking (x and y)