feat(object_merger): merge known objects #8718
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Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
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Sep 4, 2024
| @@ -224,6 +252,49 @@ void ObjectAssociationMergerNode::objectsCallback( | |||
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| } | |||
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| // Remove overlapped known object | |||
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- Please integrate the two pieces of code; unknown objects and known objects now have similar coding structures. Please integrate them together.
- Regarding efficiency, please optimize the looping, for now, all objects will be compared twice.
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Generally similar, but there are some minor differences that may not be as significant as the benefits of putting them together.
First, sorting improves code efficiency.
| object1.kinematics.pose_with_covariance.pose, object2.kinematics.pose_with_covariance.pose); | ||
| if (sq_distance_threshold < sq_distance) return false; | ||
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| const auto precision = object_recognition_utils::get2dPrecision(object1, object2); |
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Please use a different set of parameters for thresholds.
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Added param for known objects.
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Added unknown keywords to existing parameter names.
Signed-off-by: emuemuJP <[email protected]>
Signed-off-by: emuemuJP <[email protected]>
Signed-off-by: emuemuJP <[email protected]>
Signed-off-by: emuemuJP <[email protected]>
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Checked processing time changes process_without_known_obj_merger.webmprocess_with_known_obj_merger.webm |
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Description
The current algorithm removes Unknown objects if they overlap, but not otherwise.
By this change, the ROI with the highest probability and confidence of existence is retained when known objects overlap.
Package autoware_launch needs to be changed because parameter changes due to the addition of merge known object function.
Related links
Parent Issue:
How was this PR tested?
pointpainting_roi_cluster_fusion_objects_before.webm
pointpainting_roi_cluster_fusion_objects_after.webm
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.