-
Notifications
You must be signed in to change notification settings - Fork 649
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
refactor(shape_estimation)!: fix namespace and directory structure (#…
…7844) * chore: Update shape_estimation library and node names refactor: relocate headers refactor: add namespace refactor: update shape_estimation namespace on the user side Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: update namespace of the node refactor: update namespace of the node refactor: update namespace and directory structure for detection_by_tracker node Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: update namespace and directory structure for detection_by_tracker node Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * Update perception/detection_by_tracker/src/tracker/tracker_handler.hpp Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com> Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com>
- Loading branch information
1 parent
5ebaed7
commit 26e87ea
Showing
52 changed files
with
609 additions
and
362 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
88 changes: 88 additions & 0 deletions
88
perception/detection_by_tracker/src/tracker/tracker_handler.cpp
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,88 @@ | ||
| // Copyright 2021 Tier IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| #include "tracker_handler.hpp" | ||
|
|
||
| #include "autoware/universe_utils/geometry/geometry.hpp" | ||
| #include "autoware/universe_utils/math/normalization.hpp" | ||
|
|
||
| #include <tf2/utils.h> | ||
|
|
||
| namespace autoware::detection_by_tracker | ||
| { | ||
|
|
||
| void TrackerHandler::onTrackedObjects( | ||
| const autoware_perception_msgs::msg::TrackedObjects::ConstSharedPtr msg) | ||
| { | ||
| constexpr size_t max_buffer_size = 10; | ||
|
|
||
| // Add tracked objects to buffer | ||
| objects_buffer_.push_front(*msg); | ||
|
|
||
| // Remove old data | ||
| while (max_buffer_size < objects_buffer_.size()) { | ||
| objects_buffer_.pop_back(); | ||
| } | ||
| } | ||
|
|
||
| bool TrackerHandler::estimateTrackedObjects( | ||
| const rclcpp::Time & time, autoware_perception_msgs::msg::TrackedObjects & output) | ||
| { | ||
| if (objects_buffer_.empty()) { | ||
| return false; | ||
| } | ||
|
|
||
| // Get the objects closest to the target time. | ||
| const auto target_objects_iter = std::min_element( | ||
| objects_buffer_.cbegin(), objects_buffer_.cend(), | ||
| [&time]( | ||
| autoware_perception_msgs::msg::TrackedObjects first, | ||
| autoware_perception_msgs::msg::TrackedObjects second) { | ||
| return std::fabs((time - first.header.stamp).seconds()) < | ||
| std::fabs((time - second.header.stamp).seconds()); | ||
| }); | ||
|
|
||
| // Estimate the pose of the object at the target time | ||
| const auto dt = time - target_objects_iter->header.stamp; | ||
| output.header.frame_id = target_objects_iter->header.frame_id; | ||
| output.header.stamp = time; | ||
| for (const auto & object : target_objects_iter->objects) { | ||
| const auto & pose_with_covariance = object.kinematics.pose_with_covariance; | ||
| const auto & x = pose_with_covariance.pose.position.x; | ||
| const auto & y = pose_with_covariance.pose.position.y; | ||
| const auto & z = pose_with_covariance.pose.position.z; | ||
| const float yaw = tf2::getYaw(pose_with_covariance.pose.orientation); | ||
| const auto & twist = object.kinematics.twist_with_covariance.twist; | ||
| const float & vx = twist.linear.x; | ||
| const float & wz = twist.angular.z; | ||
|
|
||
| // build output | ||
| autoware_perception_msgs::msg::TrackedObject estimated_object; | ||
| estimated_object.object_id = object.object_id; | ||
| estimated_object.existence_probability = object.existence_probability; | ||
| estimated_object.classification = object.classification; | ||
| estimated_object.shape = object.shape; | ||
| estimated_object.kinematics.pose_with_covariance.pose.position.x = | ||
| x + vx * std::cos(yaw) * dt.seconds(); | ||
| estimated_object.kinematics.pose_with_covariance.pose.position.y = | ||
| y + vx * std::sin(yaw) * dt.seconds(); | ||
| estimated_object.kinematics.pose_with_covariance.pose.position.z = z; | ||
| const float yaw_hat = autoware::universe_utils::normalizeRadian(yaw + wz * dt.seconds()); | ||
| estimated_object.kinematics.pose_with_covariance.pose.orientation = | ||
| autoware::universe_utils::createQuaternionFromYaw(yaw_hat); | ||
| output.objects.push_back(estimated_object); | ||
| } | ||
| return true; | ||
| } | ||
| } // namespace autoware::detection_by_tracker |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.