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Replace hungarian method with successive shortest path method in data association #4

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Replace hungarian method with successive shortest path method in data association #4

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d0e0441
update
yukkysaito Aug 30, 2019
21cee77
update
yukkysaito Aug 30, 2019
70688c1
update
yukkysaito Aug 30, 2019
c67fd60
update ansible
yukkysaito Aug 30, 2019
8082993
Merge branch 'master' of github.com:yukkysaito/autoware_perception in…
yukkysaito Aug 30, 2019
11f3682
update
yukkysaito Sep 6, 2019
c769fc9
[update] running time evaluation
Sep 10, 2019
dd23b6b
Merge branch 'feature/high_calc'
Sep 10, 2019
b94caf2
[update] remove evaluation codes
Sep 10, 2019
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10 changes: 5 additions & 5 deletions euclidean_cluster/launch/euclidean_cluster.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@

<launch>
<arg name="input/pointcloud" default="/points_raw/filtered"/>
<arg name="input/map" default="/points_map" />
<!-- <arg name="input/map" default="/points_map" /> -->
<arg name="output/clusters" default="clusters"/>

<node pkg="nodelet" type="nodelet" name="euclidean_cluster_manager" args="manager" output="screen" />
Expand All @@ -11,22 +11,22 @@
<remap from="~output" to="voxel_grid/filtered" />
<rosparam>
filter_field_name: z
filter_limit_min: 0.1
filter_limit_min: -1.5
filter_limit_max: 2.5
filter_limit_negative: False
leaf_size: 0.1
input_frame: base_link
output_frame: base_link
</rosparam>
</node>
<node pkg="nodelet" type="nodelet" name="compare_map_filter" args="load points_preprocessor/voxel_based_compare_map_filter_nodelet euclidean_cluster_manager" output="screen">
<!-- <node pkg="nodelet" type="nodelet" name="compare_map_filter" args="load points_preprocessor/voxel_based_compare_map_filter_nodelet euclidean_cluster_manager" output="screen">
<remap from="~input" to="voxel_grid/filtered"/>
<remap from="~map" to="$(arg input/map)"/>
<remap from="~output" to="compare_map/filtered"/>
</node>
</node> -->

<node pkg="nodelet" type="nodelet" name="euclidean_cluster" args="load euclidean_cluster/euclidean_cluster_nodelet euclidean_cluster_manager" output="screen">
<remap from="~input" to="compare_map/filtered"/>
<remap from="~input" to="voxel_grid/filtered"/>
<remap from="~output" to="$(arg output/clusters)"/>
<rosparam>
target_frame: base_link
Expand Down
2 changes: 1 addition & 1 deletion multi_object_tracker/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ add_executable(multi_object_tracker_node
src/tracker/model/bicycle_tracker.cpp
src/tracker/model/pedestrian_tracker.cpp
src/data_association/data_association.cpp
src/data_association/hungarian/hungarian.cc)
src/data_association/successive_shortest_path/successive_shortest_path.cpp)

add_dependencies(multi_object_tracker_node ${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS})
Expand Down
10 changes: 10 additions & 0 deletions multi_object_tracker/launch/multi_object_tracker.launch
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Expand Up @@ -12,5 +12,15 @@
<remap from="output" to="$(arg output/objects)"/>
<param name="world_frame_id" value="$(arg world_frame_id)" />
</node>
<!-- visualization -->
<include file="$(find dynamic_object_visualization)/launch/dynamic_object_visualizer.launch">
<arg name="input" value="objects"/>
<arg name="with_feature" value="false"/>
<arg name="only_known_objects" default="true"/>
</include>

<node pkg="tf2_ros" type="static_transform_publisher" name="loam_velodyne_to_base_link" args="0 0 0 0 0 -1.57079632679 loam_velodyne/base_link base_link" />
<node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_velodyne" args="0 0 0 -1.57079632679 0 0 base_link velodyne" />
<node pkg="tf2_ros" type="static_transform_publisher" name="world_to_map" args="0 0 0 0 0 1.57079632679 world map" />

</launch>
8 changes: 6 additions & 2 deletions multi_object_tracker/src/data_association/data_association.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,8 +18,8 @@
*/

#include "multi_object_tracker/data_association/data_association.hpp"
#include "hungarian/hungarian.h"
#include "multi_object_tracker/utils/utils.hpp"
#include "successive_shortest_path/successive_shortest_path.h"

// #include <iostream>
DataAssociation::DataAssociation()
Expand Down Expand Up @@ -114,6 +114,7 @@ bool DataAssociation::assign(const Eigen::MatrixXd &src,
std::unordered_map<int, int> &direct_assignment,
std::unordered_map<int, int> &reverse_assignment)
{

std::vector<std::vector<double>> score(src.rows());
for (int row = 0; row < src.rows(); ++row)
{
Expand All @@ -123,7 +124,10 @@ bool DataAssociation::assign(const Eigen::MatrixXd &src,
score.at(row).at(col) = src(row, col);
}
}
operations_research::MaximizeLinearAssignment(score, &direct_assignment, &reverse_assignment);

// Solve
assignment_problem::MaximizeLinearAssignment(score, &direct_assignment, &reverse_assignment);

for (auto itr = direct_assignment.begin(); itr != direct_assignment.end();)
{
if (src(itr->first, itr->second) < score_threshold_)
Expand Down
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