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feat: update data association in object merger (#1001)
* backup Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * backup Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * bug fix Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * backup Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * backup Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * ci(pre-commit): autofix * cosmetic change Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * add parameters Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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44 changes: 44 additions & 0 deletions
44
perception/object_merger/config/data_association_matrix.param.yaml
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| /**: | ||
| ros__parameters: | ||
| can_assign_matrix: | ||
| #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN | ||
| [0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN | ||
| 0, 1, 1, 1, 1, 0, 0, 0, #CAR | ||
| 0, 1, 1, 1, 1, 0, 0, 0, #TRUCK | ||
| 0, 1, 1, 1, 1, 0, 0, 0, #BUS | ||
| 0, 1, 1, 1, 1, 0, 0, 0, #TRAILER | ||
| 0, 0, 0, 0, 0, 1, 1, 1, #MOTORBIKE | ||
| 0, 0, 0, 0, 0, 1, 1, 1, #BICYCLE | ||
| 0, 0, 0, 0, 0, 1, 1, 1] #PEDESTRIAN | ||
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| max_dist_matrix: | ||
| #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN | ||
| [4.0, 4.0, 5.0, 5.0, 5.0, 2.0, 2.0, 2.0, #UNKNOWN | ||
| 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #CAR | ||
| 5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRUCK | ||
| 5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #BUS | ||
| 5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRAILER | ||
| 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #MOTORBIKE | ||
| 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #BICYCLE | ||
| 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0] #PEDESTRIAN | ||
| max_rad_matrix: # If value is greater than pi, it will be ignored. | ||
| #UNKNOWN, CAR, TRUCK, BUS, TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN | ||
| [3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #UNKNOWN | ||
| 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #CAR | ||
| 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRUCK | ||
| 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #BUS | ||
| 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRAILER | ||
| 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE | ||
| 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #BICYCLE | ||
| 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #PEDESTRIAN | ||
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| min_iou_matrix: # If value is negative, it will be ignored. | ||
| #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN | ||
| [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN | ||
| 0.1, 0.3, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, #CAR | ||
| 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRUCK | ||
| 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #BUS | ||
| 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRAILER | ||
| 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #MOTORBIKE | ||
| 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE | ||
| 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] #PEDESTRIAN |
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22 changes: 22 additions & 0 deletions
22
...on/object_merger/include/object_association_merger/data_association/solver/gnn_solver.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. | ||
|
|
||
| #ifndef OBJECT_ASSOCIATION_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_ | ||
| #define OBJECT_ASSOCIATION_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_ | ||
|
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| #include "object_association_merger/data_association/solver/gnn_solver_interface.hpp" | ||
| #include "object_association_merger/data_association/solver/mu_successive_shortest_path.hpp" | ||
| #include "object_association_merger/data_association/solver/successive_shortest_path.hpp" | ||
|
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| #endif // OBJECT_ASSOCIATION_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_ |
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35
...merger/include/object_association_merger/data_association/solver/gnn_solver_interface.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 OBJECT_ASSOCIATION_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_ | ||
| #define OBJECT_ASSOCIATION_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_ | ||
|
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| #include <unordered_map> | ||
| #include <vector> | ||
|
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| namespace gnn_solver | ||
| { | ||
| class GnnSolverInterface | ||
| { | ||
| public: | ||
| GnnSolverInterface() = default; | ||
| virtual ~GnnSolverInterface() = default; | ||
|
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| virtual void maximizeLinearAssignment( | ||
| const std::vector<std::vector<double>> & cost, std::unordered_map<int, int> * direct_assignment, | ||
| std::unordered_map<int, int> * reverse_assignment) = 0; | ||
| }; | ||
| } // namespace gnn_solver | ||
|
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| #endif // OBJECT_ASSOCIATION_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_ |
37 changes: 37 additions & 0 deletions
37
...include/object_association_merger/data_association/solver/mu_successive_shortest_path.hpp
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| Original file line number | Diff line number | Diff line change |
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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 OBJECT_ASSOCIATION_MERGER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_ | ||
| #define OBJECT_ASSOCIATION_MERGER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_ | ||
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| #include "object_association_merger/data_association/solver/gnn_solver_interface.hpp" | ||
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| #include <unordered_map> | ||
| #include <vector> | ||
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| namespace gnn_solver | ||
| { | ||
| class MuSSP : public GnnSolverInterface | ||
| { | ||
| public: | ||
| MuSSP() = default; | ||
| ~MuSSP() = default; | ||
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| void maximizeLinearAssignment( | ||
| const std::vector<std::vector<double>> & cost, std::unordered_map<int, int> * direct_assignment, | ||
| std::unordered_map<int, int> * reverse_assignment) override; | ||
| }; | ||
| } // namespace gnn_solver | ||
|
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| #endif // OBJECT_ASSOCIATION_MERGER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_ |
37 changes: 37 additions & 0 deletions
37
...er/include/object_association_merger/data_association/solver/successive_shortest_path.hpp
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,37 @@ | ||
| // 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. | ||
|
|
||
| #ifndef OBJECT_ASSOCIATION_MERGER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_ | ||
| #define OBJECT_ASSOCIATION_MERGER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_ | ||
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| #include "object_association_merger/data_association/solver/gnn_solver_interface.hpp" | ||
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| #include <unordered_map> | ||
| #include <vector> | ||
|
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| namespace gnn_solver | ||
| { | ||
| class SSP : public GnnSolverInterface | ||
| { | ||
| public: | ||
| SSP() = default; | ||
| ~SSP() = default; | ||
|
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| void maximizeLinearAssignment( | ||
| const std::vector<std::vector<double>> & cost, std::unordered_map<int, int> * direct_assignment, | ||
| std::unordered_map<int, int> * reverse_assignment) override; | ||
| }; | ||
| } // namespace gnn_solver | ||
|
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| #endif // OBJECT_ASSOCIATION_MERGER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_ |
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