Inquiry About Multi-Object Tracker on Unclassified Objects

[twbabyduck]

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Hello,

I hope this message finds you well.

I am seeking assistance regarding the multi-object tracker, particularly in relation to this GitHub issue: Issue #8752.

I have successfully utilized the Autoware euclidean clustering and followed the documentation (voxel grid-based clustering, shape estimation, and the detected object feature remover). As a result, I am able to publish detected objects (autoware_perception_msgs::msg::DetectedObjects).

However, I am encountering some difficulties with the multi-object tracker. When I set the channel to lidar_clustering (only use clustered objects; I am currently not using a GPU, so a machine learning solution is not an option for me.). It appears that all tracked objects are classified as "unknown," and I am unable to see the tracked objects.

[INFO] [multi_object_tracker_node-1]: process started with pid [338892]
[multi_object_tracker_node-1] [INFO] [1729656444.014699521] [multi_object_tracker]: InputManager::init Initializing clustering input stream from /clustering/detected_objects
[multi_object_tracker_node-1] [WARN] [1729656444.448895633] [multi_object_tracker]: InputManager::updateTimingStatus clustering: Resetting the latest measurement time to 96.205781
[multi_object_tracker_node-1] [WARN] [1729656480.738436766] [multi_object_tracker]: InputManager::updateTimingStatus clustering: Resetting the latest measurement time to 64.332246
[multi_object_tracker_node-1] [WARN] [1729656538.079262570] [multi_object_tracker]: InputManager::updateTimingStatus clustering: Resetting the latest measurement time to 64.232323
[multi_object_tracker_node-1] [WARN] [1729656598.980323999] [multi_object_tracker]: InputManager::updateTimingStatus clustering: Resetting the latest measurement time to 64.232323

Is there a way to track all objects, even if they remain unclassified?

Thank you for your help!