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Edwardius
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Edwardius
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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)
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what are these for? can we ignore them if their autogenerated?
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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
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might be better to make our own fork of bytetrack, then clone the modified fork into the vendor package
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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)
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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)
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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
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| # Multi-Object Tracking — Developer Guide | |||
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| ## Dependencies | |||
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just say refer to package.xml
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📑 Description
Tracker is 3d now, needed for tracking boxes in 3d space
📹 (Optional) Video Demo of Changes
✅ Checklist
🔗 Related Issues / PRs
Fixes #123
Depends on #456
📝 Notes for reviewers