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)

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