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fix(tracking_object_merger): flip main object direction when the object velocity is backward. #6449

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technolojin
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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.

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Post-review checklist for the PR author

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Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
@github-actions github-actions bot added the component:perception Advanced sensor data processing and environment understanding. (auto-assigned) label Feb 19, 2024
@technolojin technolojin changed the title fix(tracking_object_merger): fix(tracking_object_merger): flip main object direction when the object velocity is backward. Feb 19, 2024
@technolojin technolojin deleted the fix/tracking-merge-fliped-main-obj branch February 20, 2024 06:12
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