3D tracking

[khuang9]

📑 Description

Tracker is 3d now, needed for tracking boxes in 3d space

📹 (Optional) Video Demo of Changes

✅ Checklist

• My code builds and runs locally without warnings
• I added/updated tests if needed
• I updated documentation / comments
• I listed any breaking changes in the “Notes” section

🔗 Related Issues / PRs

Fixes #123
Depends on #456

📝 Notes for reviewers

[Edwardius]

nice work! Some things to add now that we're moving into actual integration onto the car:

• make this an rclcpp_component (so that we can doo intraprocess communication) and rclcpp_lifecycle node (so that we can manage startup in a deterministic way)
• launch tracking with perception_bringup pkg (this is a metapackage that is used to launch all other packages under perception, you can see how its ran if you look at the perception_bringup service in the docker-compose.yaml)

[Edwardius]

what are these for? can we ignore them if their autogenerated?

[khuang9]

those contain the changes I made to bytetrack to turn it from 2d into 3d. the patch is pretty big though so probably not the greatest solution

[khuang9]

might be better to make our own fork of bytetrack, then clone the modified fork into the vendor package

[Edwardius]

sure, that works, since its MIT you can freely like copy the code and make changes to it. feel free to add it in (and i guess remove the vendor pkg)

[Edwardius]

forking its history into the monorepo can get messy though, so best to just cherry pick what you need and adding it here , ie. writing your own tracker with notes of bytetrack :P (you can even open source it as your own, just crediting the original authors)

[Edwardius]

isnt this an rclcpp component? if not, can you make it so? it would remove the main.cpp here. also, if you can help perception get started with implementing this is a lifecycle node, that would be cool. you should use the wato_lifecycle_manager under infrastructure/ (copy in inside perception dockerfile), and launch it all through perception_bringup pkg

[Edwardius]

just say refer to package.xml