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feat(traffic_light_multi_camera_fusion): take confidence into consideration #6267

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merged 2 commits into from
Feb 19, 2024
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feat(traffic_light_multi_camera_fusion): take confidence into consideration #6267

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31d7f11
fix: highest confidence
tzhong518 Jan 26, 2024
564bf45
fix: use the confidence of the first element
tzhong518 Feb 16, 2024
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18 changes: 11 additions & 7 deletions perception/traffic_light_multi_camera_fusion/src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,13 +82,17 @@ int compareRecord(const traffic_light::FusionRecord & r1, const traffic_light::F
int visible_score_1 = calVisibleScore(r1);
int visible_score_2 = calVisibleScore(r2);
if (visible_score_1 == visible_score_2) {
int area_1 = r1.roi.roi.width * r1.roi.roi.height;
int area_2 = r2.roi.roi.width * r2.roi.roi.height;
if (area_1 < area_2) {
return -1;
} else {
return static_cast<int>(area_1 > area_2);
}
double sum_1 = 0;
for_each(r1.signal.elements.begin(), r1.signal.elements.end(), [&sum_1](const auto & elem) {
sum_1 = sum_1 + elem.confidence;
});
double sum_2 = 0;
for_each(r2.signal.elements.begin(), r2.signal.elements.end(), [&sum_2](const auto & elem) {
sum_2 = sum_2 + elem.confidence;
});
double confidence_1 = sum_1 / r1.signal.elements.size();
double confidence_2 = sum_2 / r2.signal.elements.size();
return confidence_1 < confidence_2 ? -1 : 1;
} else {
return visible_score_1 < visible_score_2 ? -1 : 1;
}
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