fix(detected_object_validation): change the points_num of the validator to be set class by class #5177
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Signed-off-by: badai-nguyen <[email protected]>
Signed-off-by: badai-nguyen <[email protected]>
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Signed-off-by: badai-nguyen <[email protected]>
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Signed-off-by: badai-nguyen <[email protected]>
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Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #5177 +/- ##
==========================================
- Coverage 14.85% 14.85% -0.01%
==========================================
Files 1627 1627
Lines 112656 112659 +3
Branches 34806 34806
==========================================
Hits 16739 16739
- Misses 77156 77159 +3
Partials 18761 18761
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perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
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Signed-off-by: badai-nguyen <[email protected]>
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…or to be set class by class (autowarefoundation#5177) * fix: add param for each object class Signed-off-by: badai-nguyen <[email protected]> * fix: add missing classes param Signed-off-by: badai-nguyen <[email protected]> * fix: launch file Signed-off-by: badai-nguyen <[email protected]> * fix: typo Signed-off-by: badai-nguyen <[email protected]> * chore: refactor Signed-off-by: badai-nguyen <[email protected]> --------- Signed-off-by: badai-nguyen <[email protected]>
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…or to be set class by class (autowarefoundation#5177) * fix: add param for each object class Signed-off-by: badai-nguyen <[email protected]> * fix: add missing classes param Signed-off-by: badai-nguyen <[email protected]> * fix: launch file Signed-off-by: badai-nguyen <[email protected]> * fix: typo Signed-off-by: badai-nguyen <[email protected]> * chore: refactor Signed-off-by: badai-nguyen <[email protected]> --------- Signed-off-by: badai-nguyen <[email protected]>
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…or to be set class by class (autowarefoundation#5177) * fix: add param for each object class Signed-off-by: badai-nguyen <[email protected]> * fix: add missing classes param Signed-off-by: badai-nguyen <[email protected]> * fix: launch file Signed-off-by: badai-nguyen <[email protected]> * fix: typo Signed-off-by: badai-nguyen <[email protected]> * chore: refactor Signed-off-by: badai-nguyen <[email protected]> --------- Signed-off-by: badai-nguyen <[email protected]>
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Description
This PR add threshold pointcloud number for each class in
obstacle_pointcloud_based_validatorto reduce FP of less pointcloud vehicle which is detected by DNN(Centerpoint) model.Related link
TIER IV INTERNAL LINK
autowarefoundation/autoware_launch#606
Tests performed
Tested by logging_simulator and internal rosbag.
Green: Centerpoint result
Yellow: Validator result
Blue: Predicted result
Not applicable.
Effects on system behavior
Not applicable.
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