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

perception/shape_estimation/lib/shape_estimator.cpp

@@ -39,25 +39,31 @@
   autoware_auto_perception_msgs::msg::Shape shape;
   geometry_msgs::msg::Pose pose;
   // estimate shape
+  bool reverse_to_unknown = false;
   if (!estimateOriginalShapeAndPose(label, cluster, ref_yaw_info, shape, pose)) {
-    return false;
+    reverse_to_unknown = true;
   }
 
   // rule based filter
   if (use_filter_) {
     if (!applyFilter(label, shape, pose)) {
-      return false;
+      reverse_to_unknown = true;
     }
   }
 
   // rule based corrector
   if (use_corrector_) {
     bool use_reference_yaw = ref_yaw_info ? true : false;
     if (!applyCorrector(label, use_reference_yaw, ref_shape_size_info, shape, pose)) {
-      return false;
+      reverse_to_unknown = true;
     }
   }
-
+  if (reverse_to_unknown) {
+    estimateOriginalShapeAndPose(Label::UNKNOWN, cluster, ref_yaw_info, shape, pose);
+    shape_output = shape;
+    pose_output = pose;
+    return false;
+  }
   shape_output = shape;
   pose_output = pose;
   return true;

perception/shape_estimation/src/node.cpp

@@ -103,12 +103,12 @@
     const bool estimated_success = estimator_->estimateShapeAndPose(
       label, *cluster, ref_yaw_info, ref_shape_size_info, shape, pose);
 
-    // If the shape estimation fails, ignore it.
+    // If the shape estimation fails, change to Unknown object.
+    output_msg.feature_objects.push_back(feature_object);
     if (!estimated_success) {
-      continue;
+      output_msg.feature_objects.back().object.classification.front().label = Label::UNKNOWN;
     }
 
-    output_msg.feature_objects.push_back(feature_object);
     output_msg.feature_objects.back().object.shape = shape;
     output_msg.feature_objects.back().object.kinematics.pose_with_covariance.pose = pose;
   }