Track object with radar postprocess input test #311
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* Implement sub-sampling in raytracing code * Review fixes
* Add radar object tracking node and test placeholders. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Add test for basic node run. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Add first implementation for detections clusterization. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Add working detections clusterization. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Add complete debug test. Make minor cleanup in node implementation. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Add milliseconds cast to helper Time structure. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Add disabling Vector initializer list constructor, when there is only one dimension. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Add RunningStats helper structer for running mean and standard deviation. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Add basic object state handling to RadarTrackObjectsNode. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Add fixed objects count test. Make some cleanup in object tracking tests. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Fix ROS 2 for radar track objects test. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Update local constants to be node parameters. Add API call documentation for object tracking. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Update object tracking node documentation with parameter units. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Make changes according to review for #280. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> --------- Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai>
* Fix compilation error * Store last sample value in RunningStats * Micro optimization * Add missing class * Rename RuningStats -> RunningStats * Change target branch for udp extension to run CI properly
* Add API call to configure beam divergence * Review fixes
* Add more details in documentation for object tracking node. * Remove not necessary overload. * Update type traits on RunningStats to be more precise. * Add covariance calculation. Add RunningStats specialization for Vector types. * Change function signature in RunningStats specialization. * Add prototype implementation of object tracking. * Add minor comments to RunningStats. * Move object position prediction to node. Fix predicted position calculation. Update prediction to include acceleration if available. Add getter for samples count to RunningStats. * Update velocity calculation. Add assert on delta time and object ID. * Fix object acceleration calculation. * Add object orientation and orientation rate calculation. * Make minor fixes to types in track objects node. * Fix typos and add missing include in RunningStats header. * Add axis-aligned bounding box implementation. * Add aliases and staic asserts for aabb. * Add max prediction time frame - how long object can be predicted until declared lost. * Add option to reset aabb. * Add keeping orientation from previous frame, when object did not move. * Add operator overloads to Aabb. Fix field names mistake. * Fix Aabb members naming. * Update RadarPostprocessPointsNode to provide cluster (detection) aabbs. * Add handling detection (and object) aabbs to RadarTrackObjectsNode. * Rename predictionSensitivity parameter to maxMatchingDistance. * Add remaining tracking parameters to API. * Add kinematic object tracking test. Make object tracking tests more clear. * Add runtime object tracking test for rviz2 preview, skipped by default. * Add linear and angular velocity getters to IPointsNode. Add relative velocity and relative acceleration calculation to RadarTrackObjectsNode. * Make changes according to review for #288. --------- Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai>
* Architectural changes to support multi-return feature
* Add RGL_RETURN_TYPE_NOT_DIVERGENT * Compute XYZ based on raydir and distance * Fix XYZ computation, run beam sample processing conditionally
Co-authored-by: Piotr Rybicki <piotr.rybicki@robotec.ai>
Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai>
Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai>
Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai>
Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai>
Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai>
Add handling nan radial speeds in radar postprocess and object tracking nodes. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai>
Base automatically changed from
feature/radar-object-classification
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feature/q2-features
June 20, 2024 13:53
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Added tests to verify that RadarTrackObjectsNode works correctly with input from RadarPostprocessPointsNode.
In addition, a
radarHelpers.hppfile was created to include helper functions and structures. The corrected function for generating radar rays, previously located inradarTest.cpp, was also moved to this file.