fix(multi_object_tracker): make sure smallest unknown footprint is 0.3

Signed-off-by: Mehmet Emin BAŞOĞLU <mehmeteminbasoglu@hotmail.com>

Author: mebasoglu

perception/multi_object_tracker/src/data_association/data_association.cpp

@@ -159,7 +159,7 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
 
     for (size_t measurement_idx = 0; measurement_idx < measurements.objects.size();
          ++measurement_idx) {
-      const autoware_auto_perception_msgs::msg::DetectedObject & measurement_object =
+      autoware_auto_perception_msgs::msg::DetectedObject measurement_object =
         measurements.objects.at(measurement_idx);
       const std::uint8_t measurement_label =
         object_recognition_utils::getHighestProbLabel(measurement_object.classification);
@@ -180,10 +180,10 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
           if (max_dist < dist) passed_gate = false;
         }
         // area gate
+        const double area = tier4_autoware_utils::getArea(measurement_object.shape);
         if (passed_gate) {
           const double max_area = max_area_matrix_(tracker_label, measurement_label);
           const double min_area = min_area_matrix_(tracker_label, measurement_label);
-          const double area = tier4_autoware_utils::getArea(measurement_object.shape);
           if (area < min_area || max_area < area) passed_gate = false;
         }
         // angle gate
@@ -207,6 +207,13 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
         if (passed_gate) {
           const double min_iou = min_iou_matrix_(tracker_label, measurement_label);
           const double min_union_iou_area = 1e-2;
+          if (
+            measurement_object.shape.type == autoware_auto_perception_msgs::msg::Shape::POLYGON &&
+            area == 0 && measurement_object.shape.footprint.points.size() == 1) {
+            measurement_object.shape.footprint.points.front().x = 0.3;
+            measurement_object.shape.footprint.points.front().y = 0.3;
+            measurement_object.shape.footprint.points.front().z = 0.3;
+          }
           const double iou = object_recognition_utils::get2dIoU(
             measurement_object, tracked_object, min_union_iou_area);
           if (iou < min_iou) passed_gate = false;

perception/multi_object_tracker/src/multi_object_tracker_core.cpp

@@ -387,6 +387,15 @@ void MultiObjectTracker::sanitizeTracker(
         continue;
       }
 
+      if (
+        object1.shape.type == autoware_auto_perception_msgs::msg::Shape::POLYGON &&
+        tier4_autoware_utils::getArea(object1.shape) == 0 &&
+        object1.shape.footprint.points.size() == 1) {
+        object1.shape.footprint.points.front().x = 0.3;
+        object1.shape.footprint.points.front().y = 0.3;
+        object1.shape.footprint.points.front().z = 0.3;
+      }
+
       const double min_union_iou_area = 1e-2;
       const auto iou = object_recognition_utils::get2dIoU(object1, object2, min_union_iou_area);
       const auto & label1 = (*itr1)->getHighestProbLabel();