fix(unknown_tracker): update object pose orientation and streamline uncertainty modeling in input manager

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

Author: technolojin

perception/autoware_multi_object_tracker/lib/tracker/model/unknown_tracker.cpp

@@ -144,6 +144,7 @@ bool UnknownTracker::measure(const types::DynamicObject & object, const rclcpp::
 {
   // update object shape
   object_.shape = object.shape;
+  object_.pose.orientation = object.pose.orientation;
 
   // check time gap
   const double dt = motion_model_.getDeltaTime(time);

perception/autoware_multi_object_tracker/src/processor/input_manager.cpp

@@ -56,6 +56,20 @@ void InputStream::onMessage(
 
   types::DynamicObjectList dynamic_objects = types::toDynamicObjectList(objects, channel_.index);
 
+  // Model the object uncertainty only if it is not available
+  types::DynamicObjectList objects_with_uncertainty =
+    uncertainty::modelUncertainty(dynamic_objects);
+
+  // Transform the objects to the world frame
+  auto transformed_objects = odometry_->transformObjects(objects_with_uncertainty);
+  if (!transformed_objects) {
+    RCLCPP_WARN(
+      node_.get_logger(), "InputManager::onMessage %s: Failed to transform objects.",
+      channel_.long_name.c_str());
+    return;
+  }
+  dynamic_objects = transformed_objects.value();
+
   // object shape processing
   for (auto & object : dynamic_objects.objects) {
     const auto label =
@@ -91,20 +105,6 @@ void InputStream::onMessage(
     // if object extension is not reliable, enlarge covariance of position and extend shape
   }
 
-  // Model the object uncertainty only if it is not available
-  types::DynamicObjectList objects_with_uncertainty =
-    uncertainty::modelUncertainty(dynamic_objects);
-
-  // Transform the objects to the world frame
-  auto transformed_objects = odometry_->transformObjects(objects_with_uncertainty);
-  if (!transformed_objects) {
-    RCLCPP_WARN(
-      node_.get_logger(), "InputManager::onMessage %s: Failed to transform objects.",
-      channel_.long_name.c_str());
-    return;
-  }
-  dynamic_objects = transformed_objects.value();
-
   // Normalize the object uncertainty
   uncertainty::normalizeUncertainty(dynamic_objects);