refactor(autoware_multi_object_tracker): add configurable tracker parameters

[jakor97]

Description

Extracted autoware_multi_object_tracker parameters from source code, refactored parameters declaration and enabled setting confident_count_threshold for each classification label separately.

Changes

• Extracted tracker-specific parameters: tracker_lifetime, min_known_object_removal_iou, min_unknown_object_removal_iou, distance_threshold, and confident_count_threshold to the multi_object_tracker_node.param.yaml configuration file.
• Introduced TrackerProcessorConfig struct to encapsulate tracker-related parameters and refactored the TrackerProcessor class to use this struct for initialization.
• Updated the TrackerProcessor methods to use the new configuration struct, including createNewTracker, removeOldTracker, removeOverlappedTracker, and isConfidentTracker.

Related links

autowarefoundation/autoware_launch#1273 autoware_launch PR for according parameters.

How was this PR tested?

Build completed successfully.
Tested parameters changes in Carla environment.

Notes for reviewers

None.

ROS Parameter Changes

Extracted parameters from source code and renamed them according to their use:

Old	New
max_elapsed_time_	tracker_lifetime
min_iou_	min_known_object_removal_iou
min_iou_for_unknown_object_	min_unknown_object_removal_iou
distance_threshold_	distance_threshold
confident_count_threshold_	confident_count_threshold for each label type

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
Added	tracker_lifetime	float	1.0	How long will tracker last
Added	min_known_object_removal_iou	float	0.1	Minimal IoU between associated objects with known label to remove younger tracker
Added	min_unknown_object_removal_iou	float	0.001	Minimal IoU between associated objects with unknown label to remove unknown tracker
Added	distance_threshold	float	5.0	Distance threshold for removing overlapped trackers
Added	confident_count_threshold	std::map<std::string, LabelType>	Label : 3	Number of measurements to consider tracker as confident. Separated for each label.

Effects on system behavior

None.

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[technolojin]

@jakor97 Thank you for your contribution.
Those are the parameters may someone want to configure.

[technolojin]

Can you also update multi_object_tracker_node.schema.json?

[technolojin]

Other than these fixes, LGTM

I would like to approve it after the fix.

[technolojin]

LGTM

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 29 lines in your changes missing coverage. Please review.

Project coverage is 29.61%. Comparing base (e8ea100) to head (7b384cc).
Report is 9 commits behind head on main.

Files with missing lines	Patch %	Lines
...e_multi_object_tracker/src/processor/processor.cpp	0.00%	16 Missing ⚠️
...i_object_tracker/src/multi_object_tracker_node.cpp	0.00%	13 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9621      +/-   ##
==========================================
- Coverage   29.61%   29.61%   -0.01%     
==========================================
  Files        1440     1440              
  Lines      108348   108363      +15     
  Branches    41384    41388       +4     
==========================================
  Hits        32088    32088              
- Misses      73148    73163      +15     
  Partials     3112     3112              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	29.62% <ø> (+<0.01%)	⬆️	Carriedforward from e8ea100

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[YoshiRi]

LGTM