Merge branch 'main' into feat/gyro_bias_estimator-periodical_diag

TaikiYamada4 · web-flow · commit d34a6c958010 · 2024-01-29T16:21:12.000+09:00
diff --git a/perception/tracking_object_merger/config/data_association_matrix.param.yaml b/perception/tracking_object_merger/config/data_association_matrix.param.yaml
@@ -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
@@ -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
@@ -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
diff --git a/perception/tracking_object_merger/src/utils/utils.cpp b/perception/tracking_object_merger/src/utils/utils.cpp
@@ -484,9 +484,9 @@ void updateWholeTrackedObject(TrackedObject & main_obj, const TrackedObject & su
 {
   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;
 }

Original file line number	Diff line number	Diff line change
`@@ -484,9 +484,9 @@ void updateWholeTrackedObject(TrackedObject & main_obj, const TrackedObject & su`
`484`	`484`	`{`
`485`	`485`	`if (!objectsHaveSameMotionDirections(main_obj, sub_obj)) {`
`486`	`486`	`// warning`
`487`		`- std::cerr << "[object_tracking_merger]: motion direction is different in "`
`488`		`- "updateWholeTrackedObject function."`
`489`		`- << std::endl;`
	`487`	`+ // std::cerr << "[object_tracking_merger]: motion direction is different in "`
	`488`	`+ // "updateWholeTrackedObject function."`
	`489`	`+ // << std::endl;`
`490`	`490`	`}`
`491`	`491`	`main_obj = sub_obj;`
`492`	`492`	`}`