Commit 81d0024 1 parent f5b5966 commit 81d0024 Copy full SHA for 81d0024
File tree 1 file changed +4
-1
lines changed
perception/detected_object_validation/src
1 file changed +4
-1
lines changed Original file line number Diff line number Diff line change @@ -154,7 +154,10 @@ bool ObjectLaneletFilterNode::filterObject(
154
154
}
155
155
156
156
// 2. check if objects velocity is the same with the lanelet direction
157
- if (filter_settings_.lanelet_direction_filter ) {
157
+ const bool orientation_not_available =
158
+ transformed_object.kinematics .orientation_availability ==
159
+ autoware_auto_perception_msgs::msg::ObjectFeature::UNAVAILABLE;
160
+ if (filter_settings_.lanelet_direction_filter && !orientation_not_available) {
158
161
const bool is_same_direction =
159
162
isSameDirectionWithLanelets (intersected_road_lanelets, transformed_object) ||
160
163
isSameDirectionWithLanelets (intersected_shoulder_lanelets, transformed_object);
You can’t perform that action at this time.
0 commit comments