Integrate vision detections with the tracker
Description
Purpose
Currently the tracker node only subscribes to lidar clusters (and odom). To enable vision integration, vision detection messages need to be subscribed to in the tracker node and appropriate refactor has to be done to update function in the tracker to handle vision messages and pass it along for track creation and classification update.
Desired Behavior
Tracker node subscribes to a ClassifierRoiArray
topic and tracker class passes it through to track creation module (and optionally, to classification module if it is ready by the time this is implemented)
This issue does not cover integration with the simulator. There may not be any integration test implemented as part of this ticket.
Definition of Done
-
Decide what is the best way to integrate vision such that the tracker can easily be run with and without it -
Implement the outcome of 1. -
Parameterize track creation policy and vision calibration parameters -
Refactor the update()
inmulti_object_tracker.cpp
based on the outcome of 1. -
Make sure new tracks are created with correct classification from vision ROI
Edited by Gowtham Ranganathan