├── .gitignore ├── 3rdparty └── libspconv │ ├── include │ └── spconv │ │ ├── check.hpp │ │ ├── engine.hpp │ │ ├── memory.hpp │ │ ├── tensor.hpp │ │ ├── timer.hpp │ │ └── version.hpp │ └── lib │ ├── aarch64 │ └── libspconv.so │ └── x86_64 │ └── libspconv.so ├── CMakeLists.txt ├── README.md ├── common ├── .clang-format ├── .gitignore ├── CMakeLists.txt ├── README.md ├── include │ └── common │ │ ├── algos │ │ ├── convex_hullxy.hpp │ │ ├── graph.hpp │ │ └── hungarian_bigraph_matcher.hpp │ │ ├── bounding_box.hpp │ │ ├── color.hpp │ │ ├── common.hpp │ │ ├── geometry.hpp │ │ ├── parameter.hpp │ │ ├── publisher.hpp │ │ ├── thread_pool.hpp │ │ ├── time.hpp │ │ ├── transform.hpp │ │ └── types │ │ ├── feature.hpp │ │ ├── object.hpp │ │ ├── trackable_object.hpp │ │ └── type.h ├── msgs │ ├── CMakeLists.txt │ ├── autosense_msgs │ │ ├── PointCloud2Array.msg │ │ ├── TrackingFixedTrajectoryArray.msg │ │ └── TrackingObjectArray.msg │ └── package.xml.conf ├── package.xml ├── src │ └── algos │ │ └── hungarian_bigraph_matcher.cpp └── srvs │ ├── CMakeLists.txt │ └── package.xml.conf ├── config └── TrackingWorker.yaml ├── imgs └── scene1_preview.png ├── include ├── centerpoint │ ├── centerpoint.h │ ├── centerpoint_detection_and_tracking.h │ ├── common.h │ ├── kernel.h │ ├── postprocess.h │ ├── preprocess.h │ ├── tensorrt.hpp │ └── timer.hpp ├── common │ ├── algos │ │ ├── convex_hullxy.hpp │ │ ├── graph.hpp │ │ └── hungarian_bigraph_matcher.hpp │ ├── bounding_box.hpp │ ├── color.hpp │ ├── common.hpp │ ├── geometry.hpp │ ├── msgs │ │ ├── .gitkeep │ │ └── autosense_msgs │ ├── parameter.hpp │ ├── publisher.hpp │ ├── srvs │ │ └── .gitkeep │ ├── thread_pool.hpp │ ├── time.hpp │ ├── transform.hpp │ └── types │ │ ├── feature.hpp │ │ ├── object.hpp │ │ ├── trackable_object.hpp │ │ └── type.h └── tracking │ ├── base_tracking_worker.h │ ├── distances │ └── tracker_obsv_distance.hpp │ ├── filters │ ├── base_filter.hpp │ └── robust_kalman_filter.h │ ├── hm_tracking_worker.hpp │ ├── matchers │ ├── base_tracker_obsv_matcher.h │ └── hungarian_tracker_obsv_matcher.hpp │ ├── trackers │ ├── multi_object_tracker.hpp │ └── object_tracker.hpp │ └── tracking_worker_manager.hpp ├── launch ├── centerpoint_detection.launch └── centerpoint_detection_and_tracking.launch ├── main.cpp ├── model ├── centerpoint.scn.onnx ├── rpn_centerhead_sim.onnx └── rpn_centerhead_sim.plan ├── package.xml ├── rviz ├── detection.rviz ├── detection_and_tracking.rviz └── nuscenes.rviz └── src ├── centerpoint.cpp ├── centerpoint_detection_and_tracking.cpp ├── postprocess.cpp ├── postprocess_kernels.cu ├── preprocess.cpp ├── preprocess_kernels.cu ├── tensorrt.cpp └── tracking ├── distances └── tracker_obsv_distance.cpp ├── filters └── robust_kalman_filter.cpp ├── hm_tracking_worker.cpp ├── matchers └── hungarian_tracker_obsv_matcher.cpp └── trackers ├── multi_object_tracker.cpp └── object_tracker.cpp /.gitignore: -------------------------------------------------------------------------------- 1 | .vscode 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