fix(multi_object_tracker): object size becomes zero, risk of numeric error and overflow on IoU calculation

[technolojin]

Description

When IoU is calculated in sanity check process, the following error was shown in a low probability.

[multi_object_tracker-56] terminate called after throwing an instance of 'boost::numeric::positive_overflow'
[multi_object_tracker-56]   what():  bad numeric conversion: positive overflow
[multi_object_tracker-56] *** Aborted at 1709866773 (unix time) try "date -d @1709866773" if you are using GNU date ***
[multi_object_tracker-56] PC: @                0x0 (unknown)
[multi_object_tracker-56] *** SIGABRT (@0x3e80003cd17) received by PID 249111 (TID 0x7f9198c53f40) from PID 249111; stack trace: ***
[multi_object_tracker-56]     @     0x7f9197903046 (unknown)
[multi_object_tracker-56]     @     0x7f9198f33520 (unknown)
[multi_object_tracker-56]     @     0x7f9198f879fc pthread_kill
[multi_object_tracker-56]     @     0x7f9198f33476 raise
[multi_object_tracker-56]     @     0x7f9198f197f3 abort
[multi_object_tracker-56]     @     0x7f91991dcb9e (unknown)
[multi_object_tracker-56]     @     0x7f91991e820c (unknown)
[multi_object_tracker-56]     @     0x7f91991e8277 std::terminate()
[multi_object_tracker-56]     @     0x7f91991e84d8 __cxa_throw
[multi_object_tracker-56]     @     0x7f9197b5dd57 boost::geometry::detail::recalculate::recalculate_point<>::apply<>()
[multi_object_tracker-56]     @     0x7f9197b73796 boost::geometry::detail::get_turns::get_turns_generic<>::apply<>()
[multi_object_tracker-56]     @     0x7f9197b7a026 boost::geometry::detail::overlay::overlay<>::apply<>()
[multi_object_tracker-56]     @     0x7f9197b7d454 object_recognition_utils::get2dIoU<>()
[multi_object_tracker-56]     @     0x7f9197b2915f MultiObjectTracker::sanitizeTracker()
[multi_object_tracker-56]     @     0x7f9197b2ad21 MultiObjectTracker::onMeasurement()
[multi_object_tracker-56]     @     0x7f9197b42397 std::_Function_handler<>::_M_invoke()
[multi_object_tracker-56]     @     0x7f9197b422f2 _ZNSt8__detail9__variant17__gen_vtable_implINS0_12_Multi_arrayIPFNS0_21__deduce_visit_resultIvEEOZN6rclcpp23AnySubscriptionCallbackIN29autoware_auto_perception_msgs3msg16DetectedObjects_ISaIvEEESA_E8dispatchESt10shared_ptrISB_ERKNS5_11MessageInfoEEUlOT_E_RSt7variantIJSt8functionIFvRKSB_EESN_IFvSP_SH_EESN_IFvRKNS5_17SerializedMessageEEESN_IFvSW_SH_EESN_IFvSt10unique_ptrISB_St14default_deleteISB_EEEESN_IFvS14_SH_EESN_IFvS11_ISU_S12_ISU_EEEESN_IFvS1A_SH_EESN_IFvSD_ISO_EEESN_IFvS1F_SH_EESN_IFvSD_ISV_EEESN_IFvS1K_SH_EESN_IFvRKS1F_EESN_IFvS1Q_SH_EESN_IFvRKS1K_EESN_IFvS1W_SH_EESN_IFvSE_EESN_IFvSE_SH_EESN_IFvSD_ISU_EEESN_IFvS25_SH_EEEEEJEEESt16integer_sequenceImJLm8EEEE14__visit_invokeESL_S2B_
[multi_object_tracker-56]     @     0x7f9197b89b4a rclcpp::Subscription<>::handle_message()
[multi_object_tracker-56]     @     0x7f919951fba0 rclcpp::Executor::execute_subscription()
[multi_object_tracker-56]     @     0x7f919952110e rclcpp::Executor::execute_any_executable()
[multi_object_tracker-56]     @     0x7f9199527c90 rclcpp::executors::SingleThreadedExecutor::spin()
[multi_object_tracker-56]     @     0x563d5521143e main
[multi_object_tracker-56]     @     0x7f9198f1ad90 (unknown)
[multi_object_tracker-56]     @     0x7f9198f1ae40 __libc_start_main
[multi_object_tracker-56]     @     0x563d55211df5 _start
[multi_object_tracker-56]     @                0x0 (unknown)
[component_container_mt-39] [WARN] [1709866773.359701203] [sensing.lidar.concatenate_data]: Empty sensor points!
[ERROR] [multi_object_tracker-56]: process has died......................

• Found reason of error
  Bicycle object sizes were zero (x=0, y=0, z=0). When just before the error is occur, one of the value was a huge value (probably a maximum value of double type).

• Unintended operation
  In the pedestrian_and_bicycle tracker, two trackers are combined and updated simultaneously. There is chance to update cylinder shape (pedestrian) to the bicycle tracker, but the cylinder shape update in the bicycle tracker is not considered.
  In the current bicycle tracker, it always updates its size as bounding box, therefore the bounding size can became unintended value (default value of zero, or any arbitrary value).

• Countermeasure

1. In the bicycle tracker, the shape will be converted to bounding box.
2. In all of the trackers treats object size, minimum object size is set and the size will be limited to have at least of the minimum size.

Tests performed

Tested by data-relay simulation under local PC environment, the same data that occurred the error and confirmed that the error is not happening anymore.

Effects on system behavior

The error probability is eliminated.

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[YoshiRi]

Thanks! There is just a minor comment. (Sorry, just my mistake ignore this comment)

Wrong review comments

[yukkysaito]

LGTM

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 34 lines in your changes are missing coverage. Please review.

Project coverage is 14.79%. Comparing base (1de37a3) to head (79bddce).
Report is 2 commits behind head on main.

Files	Patch %	Lines
...ject_tracker/src/tracker/model/bicycle_tracker.cpp	0.00%	12 Missing ⚠️
...t_tracker/src/tracker/model/pedestrian_tracker.cpp	0.00%	10 Missing ⚠️
..._tracker/src/tracker/model/big_vehicle_tracker.cpp	0.00%	6 Missing ⚠️
...acker/src/tracker/model/normal_vehicle_tracker.cpp	0.00%	6 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6597      +/-   ##
==========================================
- Coverage   14.80%   14.79%   -0.01%     
==========================================
  Files        1915     1915              
  Lines      132301   132329      +28     
  Branches    39320    39316       -4     
==========================================
  Hits        19581    19581              
- Misses      90888    90916      +28     
  Partials    21832    21832              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	14.80% <ø> (+<0.01%)	⬆️	Carriedforward from c48e7d5

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

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[YoshiRi]

LGTM