Add radar object classification #298
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msz-rai
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Jun 10, 2024
Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai>
Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai>
Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai>
Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai>
Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai>
Add handling nan radial speeds in radar postprocess and object tracking nodes. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai>
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* Change array type in fieldData to be compatible with all RGL nodes * Use velocities from raytrace instead of calculating it again (better accuracy) * Do not output predicted objects * Restore the conditions of merging detections into objects * Fix required fields; skip test that fails * Require detections in world frame to predict objects properly * Fix displacementFromSkinning calculation * Fix test * Put all objects to the output * Fix deltaTime calculation * Fix test * Fix time * Fix passing time to new objects * Add comment on skinning fix * Fix coordinate system of width & length * Fix bounding boxes * Fix maxClassificationProbability * Change unit of movement_sensitivity
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Jul 13, 2024
* Add initial support for object classification in RadarTrackObjectsNode. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Add API call for setting radar object classes. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Update radar track objects tests to handle object ids. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Add safety static_cast. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Make fixes based on the review. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Prevent underflow in loop condition (#308) * Add handling nan radial speeds in radar nodes (#309) Add handling nan radial speeds in radar postprocess and object tracking nodes. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Radar object classification improvements (#310) * Change array type in fieldData to be compatible with all RGL nodes * Use velocities from raytrace instead of calculating it again (better accuracy) * Do not output predicted objects * Restore the conditions of merging detections into objects * Fix required fields; skip test that fails * Require detections in world frame to predict objects properly * Fix displacementFromSkinning calculation * Fix test * Put all objects to the output * Fix deltaTime calculation * Fix test * Fix time * Fix passing time to new objects * Add comment on skinning fix * Fix coordinate system of width & length * Fix bounding boxes * Fix maxClassificationProbability * Change unit of movement_sensitivity --------- Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> Co-authored-by: Maja Nagarnowicz <72594569+nebraszka@users.noreply.github.com> Co-authored-by: Mateusz Szczygielski <112629916+msz-rai@users.noreply.github.com>
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Jul 15, 2024
* Add initial support for object classification in RadarTrackObjectsNode. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Add API call for setting radar object classes. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Update radar track objects tests to handle object ids. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Add safety static_cast. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Make fixes based on the review. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Prevent underflow in loop condition (#308) * Add handling nan radial speeds in radar nodes (#309) Add handling nan radial speeds in radar postprocess and object tracking nodes. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Radar object classification improvements (#310) * Change array type in fieldData to be compatible with all RGL nodes * Use velocities from raytrace instead of calculating it again (better accuracy) * Do not output predicted objects * Restore the conditions of merging detections into objects * Fix required fields; skip test that fails * Require detections in world frame to predict objects properly * Fix displacementFromSkinning calculation * Fix test * Put all objects to the output * Fix deltaTime calculation * Fix test * Fix time * Fix passing time to new objects * Add comment on skinning fix * Fix coordinate system of width & length * Fix bounding boxes * Fix maxClassificationProbability * Change unit of movement_sensitivity --------- Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> Co-authored-by: Maja Nagarnowicz <72594569+nebraszka@users.noreply.github.com> Co-authored-by: Mateusz Szczygielski <112629916+msz-rai@users.noreply.github.com>
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This PR introduces object classification in radar object tracking. User sets entity ids to object classes dictionary through dedicated API call. Object classes are available from object states, that are returned through public method of RadarTrackObjectsNode. Specifically, object class has to be parsed from classification probabilities.
Within this PR, radar object tracking tests were also be updated.