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feat(detection_by_tracker): add debug and modify existence_probability (
autowarefoundation#475) * add debugger Signed-off-by: Yukihiro Saito <[email protected]> * change iou Signed-off-by: Yukihiro Saito <[email protected]>
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perception/detection_by_tracker/include/detection_by_tracker/debugger.hpp
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| // Copyright 2021 Tier IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef DETECTION_BY_TRACKER__DEBUGGER_HPP_ | ||
| #define DETECTION_BY_TRACKER__DEBUGGER_HPP_ | ||
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| #include <euclidean_cluster/euclidean_cluster.hpp> | ||
| #include <euclidean_cluster/utils.hpp> | ||
| #include <euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp> | ||
| #include <rclcpp/rclcpp.hpp> | ||
| #include <shape_estimation/shape_estimator.hpp> | ||
| #include <tier4_autoware_utils/tier4_autoware_utils.hpp> | ||
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| #include <autoware_auto_perception_msgs/msg/detected_objects.hpp> | ||
| #include <autoware_auto_perception_msgs/msg/tracked_objects.hpp> | ||
| #include <geometry_msgs/msg/pose_stamped.hpp> | ||
| #include <sensor_msgs/msg/point_cloud2.hpp> | ||
| #include <tier4_perception_msgs/msg/detected_objects_with_feature.hpp> | ||
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| #include <tf2/LinearMath/Transform.h> | ||
| #include <tf2/convert.h> | ||
| #include <tf2/transform_datatypes.h> | ||
| #include <tf2_geometry_msgs/tf2_geometry_msgs.h> | ||
| #include <tf2_ros/buffer.h> | ||
| #include <tf2_ros/transform_listener.h> | ||
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| #include <deque> | ||
| #include <memory> | ||
| #include <vector> | ||
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| class Debugger | ||
| { | ||
| public: | ||
| explicit Debugger(rclcpp::Node * node) | ||
| { | ||
| initial_objects_pub_ = | ||
| node->create_publisher<autoware_auto_perception_msgs::msg::DetectedObjects>( | ||
| "debug/initial_objects", 1); | ||
| tracked_objects_pub_ = | ||
| node->create_publisher<autoware_auto_perception_msgs::msg::DetectedObjects>( | ||
| "debug/tracked_objects", 1); | ||
| merged_objects_pub_ = | ||
| node->create_publisher<autoware_auto_perception_msgs::msg::DetectedObjects>( | ||
| "debug/merged_objects", 1); | ||
| divided_objects_pub_ = | ||
| node->create_publisher<autoware_auto_perception_msgs::msg::DetectedObjects>( | ||
| "debug/divided_objects", 1); | ||
| } | ||
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| ~Debugger() {} | ||
| void publishInitialObjects(const tier4_perception_msgs::msg::DetectedObjectsWithFeature & input) | ||
| { | ||
| initial_objects_pub_->publish(removeFeature(input)); | ||
| } | ||
| void publishTrackedObjects(const autoware_auto_perception_msgs::msg::DetectedObjects & input) | ||
| { | ||
| tracked_objects_pub_->publish(input); | ||
| } | ||
| void publishMergedObjects(const tier4_perception_msgs::msg::DetectedObjectsWithFeature & input) | ||
| { | ||
| merged_objects_pub_->publish(removeFeature(input)); | ||
| } | ||
| void publishDividedObjects(const tier4_perception_msgs::msg::DetectedObjectsWithFeature & input) | ||
| { | ||
| divided_objects_pub_->publish(removeFeature(input)); | ||
| } | ||
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| private: | ||
| rclcpp::Publisher<autoware_auto_perception_msgs::msg::DetectedObjects>::SharedPtr | ||
| initial_objects_pub_; | ||
| rclcpp::Publisher<autoware_auto_perception_msgs::msg::DetectedObjects>::SharedPtr | ||
| tracked_objects_pub_; | ||
| rclcpp::Publisher<autoware_auto_perception_msgs::msg::DetectedObjects>::SharedPtr | ||
| merged_objects_pub_; | ||
| rclcpp::Publisher<autoware_auto_perception_msgs::msg::DetectedObjects>::SharedPtr | ||
| divided_objects_pub_; | ||
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| autoware_auto_perception_msgs::msg::DetectedObjects removeFeature( | ||
| const tier4_perception_msgs::msg::DetectedObjectsWithFeature & input) | ||
| { | ||
| autoware_auto_perception_msgs::msg::DetectedObjects objects; | ||
| objects.header = input.header; | ||
| for (const auto & feature_object : input.feature_objects) { | ||
| objects.objects.push_back(feature_object.object); | ||
| } | ||
| return objects; | ||
| } | ||
| }; | ||
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| #endif // DETECTION_BY_TRACKER__DEBUGGER_HPP_ |
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