fix(autoware_image_projection_based_fusion): detected object roi box …

…projection fix (#9519)

* fix: detected object roi box projection fix

1. eliminate misuse of std::numeric_limits<double>::min()
2. fix roi range up to the image edges

Signed-off-by: Taekjin LEE <[email protected]>

* fix: fix roi range calculation in RoiDetectedObjectFusionNode

Improve the calculation of the region of interest (ROI) in the RoiDetectedObjectFusionNode. The previous code had an issue where the ROI range was not correctly limited to the image edges. This fix ensures that the ROI is within the image boundaries by using the correct comparison operators for the x and y coordinates.

Signed-off-by: Taekjin LEE <[email protected]>

---------

Signed-off-by: Taekjin LEE <[email protected]>

perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp

@@ -146,8 +146,7 @@ RoiDetectedObjectFusionNode::generateDetectedObjectRoIs(
       transformPoints(vertices, object2camera_affine, vertices_camera_coord);
     }
 
-    double min_x(std::numeric_limits<double>::max()), min_y(std::numeric_limits<double>::max()),
-      max_x(std::numeric_limits<double>::min()), max_y(std::numeric_limits<double>::min());
+    double min_x(image_width), min_y(image_height), max_x(0.0), max_y(0.0);
     std::size_t point_on_image_cnt = 0;
     for (const auto & point : vertices_camera_coord) {
       if (point.z() <= 0.0) {
@@ -164,8 +163,8 @@ RoiDetectedObjectFusionNode::generateDetectedObjectRoIs(
       max_y = std::max(proj_point.y(), max_y);
 
       if (
-        proj_point.x() >= 0 && proj_point.x() <= image_width - 1 && proj_point.y() >= 0 &&
-        proj_point.y() <= image_height - 1) {
+        proj_point.x() >= 0 && proj_point.x() < image_width && proj_point.y() >= 0 &&
+        proj_point.y() < image_height) {
         point_on_image_cnt++;
 
         if (debugger_) {
@@ -177,18 +176,16 @@ RoiDetectedObjectFusionNode::generateDetectedObjectRoIs(
       continue;
     }
 
-    min_x = std::max(min_x, 0.0);
-    min_y = std::max(min_y, 0.0);
-    max_x = std::min(max_x, image_width - 1);
-    max_y = std::min(max_y, image_height - 1);
+    const uint32_t idx_min_x = std::floor(std::max(min_x, 0.0));
+    const uint32_t idx_min_y = std::floor(std::max(min_y, 0.0));
+    const uint32_t idx_max_x = std::ceil(std::min(max_x, image_width));
+    const uint32_t idx_max_y = std::ceil(std::min(max_y, image_height));
 
     DetectedObjectWithFeature object_roi;
-    object_roi.feature.roi.x_offset = static_cast<std::uint32_t>(min_x);
-    object_roi.feature.roi.y_offset = static_cast<std::uint32_t>(min_y);
-    object_roi.feature.roi.width =
-      static_cast<std::uint32_t>(max_x) - static_cast<std::uint32_t>(min_x);
-    object_roi.feature.roi.height =
-      static_cast<std::uint32_t>(max_y) - static_cast<std::uint32_t>(min_y);
+    object_roi.feature.roi.x_offset = idx_min_x;
+    object_roi.feature.roi.y_offset = idx_min_y;
+    object_roi.feature.roi.width = idx_max_x - idx_min_x;
+    object_roi.feature.roi.height = idx_max_y - idx_min_y;
     object_roi.object = object;
     object_roi_map.insert(std::make_pair(obj_i, object_roi));