KF based Object Tracker

kf contour tracker

This nodes contains three options of tracking

• Association only
• Simple KF tracking
• Contour area plust memory tracker (divid the horizon into contours and associate memory for each circle, which represent the maximum life time of each object)

Outputs

This tracker output (pose, heading, velocity) in global coordinates.

Object Filtering

It can filter detected objects by size or/and vector map lanes proximity.

Options

It tracks either OpenPlanner simulted vehicles or live detection cluster from “lidar_euclidean_cluster_detect” It can simulated frame by frame testing with fixed time intervals 0.1 second.

Requirements

1. cloud_clusters
2. vector map, in case of using vector map object filtering (to disable using vector map set “vector map filter distance” to 0)
3. op percepion simulator, in case of simulation, also vector map filtering should be disabled.

How to launch

• From a sourced terminal:

roslaunch lidar_kf_contour_track lidar_kf_contour_track.launch

• From Runtime Manager:

Computing Tab -> Detection -> lidar_tracker -> lidar_kf_contour_tracker

Subscriptions/Publications

Publications: 
 * /tracked_objects [autoware_msgs::DetectedObjectArray]
 * /detected_polygons [visualization_msgs::MarkerArray]
 * /op_planner_tracked_boxes [jsk_recognition_msgs::BoundingBoxArray]

Subscriptions: 
 * /cloud_cluster [autoware_msgs::CloudClusterArray]
 * /current_pose [geometry_msgs::PoseStamped]
 * /vector_map_info/* 

Demo Movie

Changelog for package lidar_kf_contour_track

1.11.0 (2019-03-21)

• [fix] Install commands for all the packages (#1861)
  • Initial fixes to detection, sensing, semantics and utils
  • fixing wrong filename on install command
  • Fixes to install commands
  • Hokuyo fix name
  • Fix obj db
  • Obj db include fixes
  • End of final cleaning sweep
  • Incorrect command order in runtime manager
  • Param tempfile not required by runtime_manager
  • • Fixes to runtime manager install commands
  • Remove devel directory from catkin, if any
  • Updated launch files for robosense
  • Updated robosense
  • Fix/add missing install (#1977)
  • Added launch install to lidar_kf_contour_track
  • Added install to op_global_planner
  • Added install to way_planner
  • Added install to op_local_planner
  • Added install to op_simulation_package
  • Added install to op_utilities
  • Added install to sync
  • • Improved installation script for pointgrey packages
  • Fixed nodelet error for gmsl cameras
  • USe install space in catkin as well
  • add install to catkin
  • Fix install directives (#1990)
  • Fixed installation path
  • Fixed params installation path
  • Fixed cfg installation path
  • Delete cache on colcon_release
• Fix license notice in corresponding package.xml
• Contributors: Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

• Fixes for catkin_make
• Switch to Apache 2 license (develop branch) (#1741)
  • Switch to Apache 2

  * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

  • Update license on Python files
  • Update copyright years
  • Add #ifndef/define _POINTS_IMAGE_H_
  • Updated license comment
• Use colcon as the build tool (#1704)
  • Switch to colcon as the build tool instead of catkin
  • Added cmake-target
  • Added note about the second colcon call
  • Added warning about catkin* scripts being deprecated
  • Fix COLCON_OPTS
  • Added install targets
  • Update Docker image tags
  • Message packages fixes
  • Fix missing dependency
• Fix Ros/ROS naming convention
• Contributors: Esteve Fernandez, amc-nu

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

1.8.0 (2018-08-31)

• Support old behavior of insert static object for obstacle avoidance testing Only one simulated car available in the runtime manager update for copywrite note insert autoware_build_flags to new nodes
• fix dependencies to make industrial_ci test pass
• Update README.md
• Add ReadMe to lidar_kf_contour_track node
• Test Simulated Vehicles Fix Simulated Vehicle Initialization Test Following Test Obstacle Avoidance Add Visualization information to rviz config file open_planner.rviz
• [Fix] Moved C++11 flag to autoware_build_flags (#1395)
• [Feature] Makes sure that all binaries have their dependencies linked (#1385)
• Modify Map loading for OpenPlanner, now it reads from Autoware vector map messages, old behavior still works but from launch file only. Delete way_planner, dp_planner from UI, but they still accessible from roslaunch.
• Fix Vector Map parser problem, tested with three different maps Fix Global Planning function for the new map modification Add OpenPlanner Simulator for perception, traffic lights, cars Add OpenPlanner new version to replace wp_planner and dp_planner Remove unnecessary files from OpenPlanner libraries Test Global and Local planning Test Tracking node (kf_contour_track) Test Simulation Nodes Test Utility Nodes
• Update op_utility files for csv files loading Update MappingHelpers with latest modifications Update PlanningHelpers with latest modifications add op_common_param node, for setting OpenPlanner parameter for all related nodes such as lidar_kf_contour_track Improve tracking by including size different in association function Update way_planner, dp_planner for compatibility with new Mapping Modifications, Map format is backward compatible
• Update OpenPlanner libraries (op_planner, op_utitity, op_ros_helpers) Update ring ground filter with latest implementation Update lidar_kf_contour_track with latest implementation Add op_utilities nodes (op_bag_player, op_data_logger, op_pose2tf) Modify autoware_msgs for OpenPlanner use (CloudCluster, DetectedObject, lane, waypoint) Update UI computing.yaml for the new nodes and modifies parameters Update UI sensing.yaml for updated ring_ground_filter params
• Contributors: Esteve Fernandez, Hatem Darweesh, hatem-darweesh, kitsukawa

1.7.0 (2018-05-16)

• Add code in cmakelists
• update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst
• Remove history of sub-branches
• Add automatically-generated CHANGELOG.rst
• [Fix] rename packages (#1269)
  • rename lidar_tracker
  • Modify pf_lidar_track's cmake file
  • Refactor code
  • Rename from euclidean_lidar_tracker to lidar_euclidean_track
  • Rename from kf_contour_track to lidar_kf_contour_track
  • Rename from kf_lidar_track to lidar_kf_track, but need some modification in euclidean cluster(Cluster.h)
  • Rename from pf_lidar_tarck to lidar_pf_track
  • Rename range_fusion
  • Rename obj_reproj
  • Rename euclidean_cluster to lidar_euclidean_cluster_detect
  • Rename svm_lidar_detect to lidar_svm_detect
  • Rename kf_lidar_track to lidar_kf_track
  • Change version 1.6.3 to 1.7.0 in pacakge.xml
  • Modify CMake so that extrenal header would be loaded
  • Remove obj_reproj from cv_tracker
  • Add interface.yaml
  • Rename road_wizard to trafficlight_recognizer
  • create common directory
  • Add lidar_imm_ukf_pda_track
  • create vision_detector and moved cv
  • Modify interface.yaml and package.xml
  • remove dpm_ocv
  • moved directory
  • Delete unnecessary launch file
  • Delete rcnn related file and code
  • separated dummy_track from cv_tracker
  • separated klt_track from cv_tracker
  • Fix a cmake
  • Remove unnecessary dependency of lidar_euclidean_cluster_detect package
  • Rename image_segmenter to vision_segment_enet_detect
  • Remove unnecessary dependency of lidar_svm_detect package
  • separated kf_track and fix a some compiling issue
  • move viewers
  • merge ndt_localizer and icp_localizer, and rename to lidar_localizer
  • Remove unnecessary dependency of lidar_euclidean_track
  • moved image lib
  • add launch
  • lib move under lidar_tracker
  • Rename dpm_ttic to vision_dpm_ttic_detect
  • rename yolo3detector to vision_yolo3_detect
  • Modify cmake and package.xml in vision_dpm_ttic_detect
  • moved sourcefiles into nodes dir
  • moved sourcefiles into nodes dir
  • Move cv_tracker/data folder and delete cv_tracker/model folder
  • fix a package file and cmake
  • Rename yolo2 -> vision_yolo2_detect
  • fix a package file and cmake
  • Fix package name of launch file
  • Rename ssd to vision_ssd_detect
  • fixed cmake and package for decerese dependencies
  • remove top packages dir for detection
  • fixed cmake for cuda
  • Rename lane_detector to vision_lane_detect
  • Modify package.xml in lidar-related packages
  • Remove unnecessary dependencies in lidar_detector and lidar_tracker
  • Modify computing.yaml for dpm_ttic
  • Modify dpm_ttic launch file
  • Remove/Add dependencies to trafficlight_recognizer
  • Update data folder in dpm_ttic
  • Modified CMake and package file in dpm_ttic.
  • Remove src dir in imm_ukf_pda_track
  • removed unnecessary comments
  • rename lidar_tracker
  • Modify pf_lidar_track's cmake file
  • Refactor code
  • Rename from euclidean_lidar_tracker to lidar_euclidean_track
  • Rename from kf_contour_track to lidar_kf_contour_track
  • Rename from kf_lidar_track to lidar_kf_track, but need some modification in euclidean cluster(Cluster.h)
  • Rename from pf_lidar_tarck to lidar_pf_track
  • Rename range_fusion
  • Rename obj_reproj
  • Rename road_wizard to trafficlight_recognizer
  • Rename euclidean_cluster to lidar_euclidean_cluster_detect
  • Rename svm_lidar_detect to lidar_svm_detect
  • Rename kf_lidar_track to lidar_kf_track
  • Change version 1.6.3 to 1.7.0 in pacakge.xml
  • Modify CMake so that extrenal header would be loaded
  • Remove obj_reproj from cv_tracker
  • Add interface.yaml
  • create common directory
  • Add lidar_imm_ukf_pda_track
  • create vision_detector and moved cv
  • Modify interface.yaml and package.xml
  • remove dpm_ocv
  • moved directory
  • Delete unnecessary launch file
  • Delete rcnn related file and code
  • separated dummy_track from cv_tracker
  • separated klt_track from cv_tracker
  • Fix a cmake
  • Remove unnecessary dependency of lidar_euclidean_cluster_detect package
  • Rename image_segmenter to vision_segment_enet_detect
  • Remove unnecessary dependency of lidar_svm_detect package
  • separated kf_track and fix a some compiling issue
  • move viewers
  • merge ndt_localizer and icp_localizer, and rename to lidar_localizer
  • Remove unnecessary dependency of lidar_euclidean_track
  • moved image lib
  • add launch
  • lib move under lidar_tracker
  • Rename dpm_ttic to vision_dpm_ttic_detect
  • rename yolo3detector to vision_yolo3_detect
  • Modify cmake and package.xml in vision_dpm_ttic_detect
  • moved sourcefiles into nodes dir
  • moved sourcefiles into nodes dir
  • Move cv_tracker/data folder and delete cv_tracker/model folder
  • fix a package file and cmake
  • Rename yolo2 -> vision_yolo2_detect
  • fix a package file and cmake
  • Fix package name of launch file
  • Rename ssd to vision_ssd_detect
  • fixed cmake and package for decerese dependencies
  • remove top packages dir for detection
  • fixed cmake for cuda
  • Rename lane_detector to vision_lane_detect
  • Modify package.xml in lidar-related packages
  • Remove unnecessary dependencies in lidar_detector and lidar_tracker
  • Modify computing.yaml for dpm_ttic
  • Modify dpm_ttic launch file
  • Remove/Add dependencies to trafficlight_recognizer
  • Update data folder in dpm_ttic
  • Modified CMake and package file in dpm_ttic.
  • Remove src dir in imm_ukf_pda_track
  • Fix bug for not starting run time manager
  • Remove invalid dependency
• Contributors: Kenji Funaoka, Kosuke Murakami

1.6.3 (2018-03-06)

1.6.2 (2018-02-27)

1.6.1 (2018-01-20)

1.6.0 (2017-12-11)

1.5.1 (2017-09-25)

1.5.0 (2017-09-21)

1.4.0 (2017-08-04)

1.3.1 (2017-07-16)

1.3.0 (2017-07-14)

1.2.0 (2017-06-07)

1.1.2 (2017-02-27 23:10)

1.1.1 (2017-02-27 22:25)

1.1.0 (2017-02-24)

1.0.1 (2017-01-14)

1.0.0 (2016-12-22)