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fix(shape_estimation): preserve irregular large size vehicle detected by camera_lidar_fusion as unknown #6598

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badai-nguyen
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@badai-nguyen badai-nguyen commented Mar 12, 2024

Description

  • Current shape_estimation limits the size of known objects (vehicles) below some threshold and it will ignore some supper large trailer or crane.
  • Adjust the size threshold to cover such irregular size vehicles might cause the degredation of estimation performance overall.
  • This PR to reverse such irregular size vehicle as Unknown object.

Related Link

TIER IV INTERNAL LINK

Tests performed

Confirmed by logging_simulator with internal rosbag that the camera_lidar_fusion result of left-side crane detection (/perception/object_recognition/detection/clustering/camera_lidar_fusion/objects) has been improved.
Screenshot from 2024-03-12 17-18-20

Effects on system behavior

Not applicable.

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Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
@github-actions github-actions bot added the component:perception Advanced sensor data processing and environment understanding. (auto-assigned) label Mar 12, 2024
@badai-nguyen badai-nguyen changed the title fix(shape_estimation): keep excluded objects as unknown fix(shape_estimation): preserve irregular large size vehicle detected by camera_lidar_fusion as unknown Mar 12, 2024
@badai-nguyen badai-nguyen marked this pull request as ready for review March 12, 2024 07:21
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@yukkysaito yukkysaito left a comment

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LGTM

@badai-nguyen badai-nguyen added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Mar 13, 2024
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codecov bot commented Mar 13, 2024

Codecov Report

Attention: Patch coverage is 0% with 9 lines in your changes are missing coverage. Please review.

Project coverage is 14.92%. Comparing base (fcebec6) to head (1d2827f).
Report is 5 commits behind head on main.

Files Patch % Lines
perception/shape_estimation/src/node.cpp 0.00% 5 Missing ⚠️
...erception/shape_estimation/lib/shape_estimator.cpp 0.00% 4 Missing ⚠️
Additional details and impacted files
@@            Coverage Diff             @@
##             main    #6598      +/-   ##
==========================================
+ Coverage   14.79%   14.92%   +0.13%     
==========================================
  Files        1920     1915       -5     
  Lines      132349   131181    -1168     
  Branches    39339    39305      -34     
==========================================
  Hits        19578    19578              
+ Misses      90935    89770    -1165     
+ Partials    21836    21833       -3     
Flag Coverage Δ *Carryforward flag
differential 0.00% <0.00%> (?)
total 14.92% <0.00%> (+0.13%) ⬆️ Carriedforward from e77d669

*This pull request uses carry forward flags. Click here to find out more.

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@YoshiRi
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YoshiRi commented Mar 13, 2024

Please wait for this to be merged.

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@technolojin technolojin left a comment

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I confirmed the issue is resolved, via the issue data replay and recompute.
Thank you.

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
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Sorry, could you change variable name?

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
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LGTM. Please change autoware_launch before merge this.

@badai-nguyen
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LGTM. Please change autoware_launch before merge this.

@YoshiRi Since no shape_estimation releated parameters registered in autoware_launch so It's unneccessary.
BTW, I also tested on CI and confirmed there is no degradation. https://evaluation.tier4.jp/evaluation/reports/0df16ed5-ce10-5bd7-acb5-b8ee07b6e378?project_id=prd_jt
So I will merge this PR.

@badai-nguyen badai-nguyen merged commit 10ed352 into autowarefoundation:main Mar 13, 2024
23 of 25 checks passed
yhisaki pushed a commit to yhisaki/autoware.universe that referenced this pull request Mar 15, 2024
… by camera_lidar_fusion as unknown (autowarefoundation#6598)

* fix(shape_estimation): keep excluded objects as unknown

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chore: add optional param

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chore: rename param

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

---------

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com>
badai-nguyen added a commit to tier4/autoware.universe that referenced this pull request Mar 19, 2024
… by camera_lidar_fusion as unknown (autowarefoundation#6598)

* fix(shape_estimation): keep excluded objects as unknown

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chore: add optional param

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chore: rename param

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

---------

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com>
kaigohirao pushed a commit to kaigohirao/autoware.universe that referenced this pull request Mar 22, 2024
… by camera_lidar_fusion as unknown (autowarefoundation#6598)

* fix(shape_estimation): keep excluded objects as unknown

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chore: add optional param

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chore: rename param

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

---------

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com>
Signed-off-by: kaigohirao <kaigo.hirao@proxima-ai-tech.com>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
… by camera_lidar_fusion as unknown (autowarefoundation#6598)

* fix(shape_estimation): keep excluded objects as unknown

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chore: add optional param

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chore: rename param

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

---------

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com>
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4 participants