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feat(autoware_bytetrack3d): add new 3d multi-object tracking algorithm #9298

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feat(autoware_bytetrack3d): add new 3d multi-object tracking algorithm #9298

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@cyn-liu cyn-liu commented Nov 12, 2024 •
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Description

ByteTrack3D is improved based on 2D tracking algorithm ByteTrack, mainly aims to perform 3D multi-object tracking.

Related links

related issue

How was this PR tested?

Tested.

Notes for reviewers

None.

Interface changes

Topic changes

Additions and removals

Change type Topic Type Topic Name Message Type Description
Added Sub in/objects autoware_perception_msgs::msg::DetectedObjects The detected objects with 3D bounding boxes
Added Pub out/objects autoware_perception_msgs::msg::TrackedObjects The 3D tracking bounding boxes

ROS Parameter Changes

Additions and removals

Change type Parameter Name Type Default Value Description
Added track_buffer_length int 30 The frame count that a tracklet is considered to be lost

Effects on system behavior

None.

@github-actions github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:perception Advanced sensor data processing and environment understanding. (auto-assigned) tag:require-cuda-build-and-test labels Nov 12, 2024
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github-actions bot commented Nov 12, 2024 •
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Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

@cyn-liu cyn-liu added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Nov 12, 2024
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codecov bot commented Nov 19, 2024 •
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Codecov Report

Attention: Patch coverage is 0% with 715 lines in your changes missing coverage. Please review.

Project coverage is 29.57%. Comparing base (f112f65) to head (a31a7d8).
Report is 585 commits behind head on main.

Files with missing lines Patch % Lines
perception/autoware_bytetrack3D/lib/src/strack.cpp 0.00% 206 Missing ⚠️
perception/autoware_bytetrack3D/lib/src/utils.cpp 0.00% 157 Missing ⚠️
perception/autoware_bytetrack3D/lib/src/lapjv.cpp 0.00% 136 Missing ⚠️
...tion/autoware_bytetrack3D/lib/src/byte_tracker.cpp 0.00% 110 Missing ⚠️
...tion/autoware_bytetrack3D/src/bytetrack3D_node.cpp 0.00% 47 Missing ⚠️
...erception/autoware_bytetrack3D/src/bytetrack3D.cpp 0.00% 43 Missing ⚠️
...on/autoware_bytetrack3D/lib/src/ykalman_filter.cpp 0.00% 16 Missing ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #9298      +/-   ##
==========================================
- Coverage   29.81%   29.57%   -0.25%     
==========================================
  Files        1338     1345       +7     
  Lines      103300   104080     +780     
  Branches    40232    40363     +131     
==========================================
- Hits        30801    30780      -21     
- Misses      69512    70207     +695     
- Partials     2987     3093     +106
Flag Coverage Δ *Carryforward flag
differential 0.00% <0.00%> (?)
total 29.77% <ø> (-0.04%) ⬇️ Carriedforward from 245802e

*This pull request uses carry forward flags. Click here to find out more.

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@mitsudome-r mitsudome-r self-requested a review November 20, 2024 07:36
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xmfcx commented Nov 26, 2024

@cyn-liu could you share some information on how this new node can be tested? A bag file and instructions would be very helpful.

@xmfcx xmfcx closed this Nov 26, 2024
@xmfcx xmfcx reopened this Nov 26, 2024
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cyn-liu commented Nov 27, 2024

could you share some information on how this new node can be tested? A bag file and instructions would be very helpful.

OK, I will upload the test bag and test video.

@cyn-liu cyn-liu linked an issue Dec 5, 2024 that may be closed by this pull request
3D object tracking #7161
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@cyn-liu cyn-liu self-assigned this Dec 5, 2024
@cyn-liu cyn-liu marked this pull request as draft December 5, 2024 06:14
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cyn-liu commented Dec 5, 2024

We plan to refactor this PR, temporarily setting it as a draft.

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stale bot commented Feb 4, 2025

This pull request has been automatically marked as stale because it has not had recent activity.

@stale stale bot added the status:stale Inactive or outdated issues. (auto-assigned) label Feb 4, 2025
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component:perception Advanced sensor data processing and environment understanding. (auto-assigned) run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) status:stale Inactive or outdated issues. (auto-assigned) tag:require-cuda-build-and-test type:documentation Creating or refining documentation. (auto-assigned)

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3D object tracking

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