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fix(tracking_object_merger): enable to association unknown class in tracker merger #6182 #1123

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Feb 2, 2024
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fix(tracking_object_merger): enable to association unknown class in tracker merger #6182 #1123

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6 changes: 3 additions & 3 deletions perception/tracking_object_merger/config/data_association_matrix.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
lidar-lidar:
can_assign_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
[0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
[1, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
0, 1, 1, 1, 1, 0, 0, 0, #CAR
0, 1, 1, 1, 1, 0, 0, 0, #TRUCK
0, 1, 1, 1, 1, 0, 0, 0, #BUS
Expand Down Expand Up @@ -59,7 +59,7 @@
lidar-radar:
can_assign_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
[0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
[1, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
0, 1, 1, 1, 1, 0, 0, 0, #CAR
0, 1, 1, 1, 1, 0, 0, 0, #TRUCK
0, 1, 1, 1, 1, 0, 0, 0, #BUS
Expand Down Expand Up @@ -115,7 +115,7 @@
radar-radar:
can_assign_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
[0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
[1, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
0, 1, 1, 1, 1, 0, 0, 0, #CAR
0, 1, 1, 1, 1, 0, 0, 0, #TRUCK
0, 1, 1, 1, 1, 0, 0, 0, #BUS
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6 changes: 3 additions & 3 deletions perception/tracking_object_merger/src/utils/utils.cpp
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Expand Up @@ -272,11 +272,11 @@
const auto sub_vx = sub_obj.kinematics.twist_with_covariance.twist.linear.x;
const auto sub_vy = sub_obj.kinematics.twist_with_covariance.twist.linear.y;
// calc velocity direction
const auto main_vyaw = std::atan2(main_vy, main_vx);

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Unknown word (vyaw)
const auto sub_vyaw = std::atan2(sub_vy, sub_vx);

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Unknown word (vyaw)
// get motion yaw angle
const auto main_motion_yaw = main_yaw + main_vyaw;

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Unknown word (vyaw)
const auto sub_motion_yaw = sub_yaw + sub_vyaw;

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Unknown word (vyaw)
// diff of motion yaw angle
const auto motion_yaw_diff = std::fabs(main_motion_yaw - sub_motion_yaw);
const auto normalized_motion_yaw_diff =
Expand Down Expand Up @@ -484,9 +484,9 @@
{
if (!objectsHaveSameMotionDirections(main_obj, sub_obj)) {
// warning
std::cerr << "[object_tracking_merger]: motion direction is different in "
"updateWholeTrackedObject function."
<< std::endl;
// std::cerr << "[object_tracking_merger]: motion direction is different in "
// "updateWholeTrackedObject function."
// << std::endl;
}
main_obj = sub_obj;
}
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