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fix(object_merger): preserve unknown objects close to known objects #4499

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Aug 2, 2023
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fix(object_merger): preserve unknown objects close to known objects #4499

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a8baff3
fix(object_merger): separate GIoU
badai-nguyen Aug 2, 2023
ad121ab
fix: update GIoU threshold
badai-nguyen Aug 2, 2023
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2 changes: 1 addition & 1 deletion perception/object_merger/README.md
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Expand Up @@ -34,7 +34,7 @@ The successive shortest path algorithm is used to solve the data association pro
| `max_rad_matrix` | double | Maximum angle table for data association |
| `base_link_frame_id` | double | association frame |
| `distance_threshold_list` | `std::vector<double>` | Distance threshold for each class used in judging overlap. The class order depends on [ObjectClassification](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_perception_msgs/msg/ObjectClassification.idl). |
| `generalized_iou_threshold` | double | Generalized IoU threshold |
| `generalized_iou_threshold` | `std::vector<double>` | Generalized IoU threshold for each class |

## Tips

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2 changes: 1 addition & 1 deletion perception/object_merger/include/object_association_merger/node.hpp
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Expand Up @@ -76,7 +76,7 @@ class ObjectAssociationMergerNode : public rclcpp::Node
{
double precision_threshold;
double recall_threshold;
double generalized_iou_threshold;
std::map<int, double> generalized_iou_threshold;
std::map<int /*class label*/, double /*distance_threshold*/> distance_threshold_map;
} overlapped_judge_param_;
};
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2 changes: 1 addition & 1 deletion perception/object_merger/launch/object_association_merger.launch.xml
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Expand Up @@ -14,7 +14,7 @@
<param from="$(var data_association_matrix_path)"/>
<param from="$(var distance_threshold_list_path)"/>
<param name="priority_mode" value="$(var priority_mode)"/>
<param name="generalized_iou_threshold" value="-0.6"/>
<param name="precision_threshold_to_judge_overlapped" value="0.4"/>
<param name="remove_overlapped_unknown_objects" value="true"/>
</node>
</launch>
7 changes: 5 additions & 2 deletions perception/object_merger/src/object_association_merger/node.cpp
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Expand Up @@ -35,8 +35,11 @@
const autoware_auto_perception_msgs::msg::DetectedObject & unknown_object,
const autoware_auto_perception_msgs::msg::DetectedObject & known_object,
const double precision_threshold, const double recall_threshold,
std::map<int, double> distance_threshold_map, const double generalized_iou_threshold)
std::map<int, double> distance_threshold_map,
const std::map<int, double> generalized_iou_threshold_map)
{
const double generalized_iou_threshold = generalized_iou_threshold_map.at(
object_recognition_utils::getHighestProbLabel(known_object.classification));

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perception/object_merger/src/object_association_merger/node.cpp#L41-L42 

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const double distance_threshold = distance_threshold_map.at(
object_recognition_utils::getHighestProbLabel(known_object.classification));
const double sq_distance_threshold = std::pow(distance_threshold, 2.0);
Expand Down Expand Up @@ -95,7 +98,7 @@
overlapped_judge_param_.recall_threshold =
declare_parameter<double>("recall_threshold_to_judge_overlapped", 0.5);
overlapped_judge_param_.generalized_iou_threshold =
declare_parameter<double>("generalized_iou_threshold");
convertListToClassMap(declare_parameter<std::vector<double>>("generalized_iou_threshold"));

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// get distance_threshold_map from distance_threshold_list
/** TODO(Shin-kyoto):
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