fix(autoware_lidar_centerpoint): fix twist covariance orientation #8996
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… the twist covariance matrix is based on the object coordinate Signed-off-by: Taekjin LEE <[email protected]> fix style
Signed-off-by: Taekjin LEE <[email protected]>
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #8996 +/- ##
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Coverage 26.05% 26.06%
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Files 1315 1315
Lines 98503 98475 -28
Branches 40113 40095 -18
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+ Hits 25668 25669 +1
+ Misses 70117 70089 -28
+ Partials 2718 2717 -1
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knzo25
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Oct 1, 2024
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Description
Fix the twist covariance converter considering the twist covariance matrix is based on the object coordinate.
Before
The twist (velocity) estimation of the centerpoint is based on the base_link frame. The covariance is also the same.
In the shown case, a vehicle in front has velocity negative Y direction to the ego vehicle, and the covariance of the velocity is large in Y direction.
However, the twist covariance is directly inserted to Y coordinate of the object message, and it showed large twist covariance in lateral object velocity.
After
The twist covariance is translated to the object coordinate, which is by its definition.
As result, the twist covariance is oriented in Y direction to the ego vehicle, as expected.
NOTE: There is not inference of covariance of XY and YX. The covariance eclipse always oriented in the same direction to the base_link frame.
Related links
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.