fix(tracking_object_merger): flip main object direction when the object velocity is backward. #6449
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
Issue: At the
Issue tracker (Tier4 internal): https://tier4.atlassian.net/browse/RT1-5257
Tests performed
Before fix:
tracker_merge_reversed_obj.mp4
The multi-object tracker (mainly from lidar, blue box) has opposite direction and when the radar object is also used to obtain velocity, the merger trusts the orientation of the main object (lidar object). as result, the merged object (yellow box) has the reversed direction.
After fix:
tracker_merge_reversed_obj_fixed_2.mp4
Since the merger assumes the object is driving forward, the merger will flip the velocity vector and its orientation when the incoming object has negative x velocity (driving backward).
Effects on system behavior
The merger result will have more stable result when MOT tracker has orientation error.
The merger cannot output backward-driving vehicle correctly.
Pre-review checklist for the PR author
The PR author must check the checkboxes below when creating the PR.
In-review checklist for the PR reviewers
The PR reviewers must check the checkboxes below before approval.
Post-review checklist for the PR author
The PR author must check the checkboxes below before merging.
After all checkboxes are checked, anyone who has write access can merge the PR.