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

perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp

@@ -1,4 +1,4 @@
 // Copyright 2020 Tier IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -140,6 +140,11 @@
   } else {
     bounding_box_ = {1.0, 0.5, 1.7};
   }
+  // set minimum size
+  bounding_box_.length = std::max(bounding_box_.length, 0.5);
+  bounding_box_.width = std::max(bounding_box_.width, 0.3);
+  bounding_box_.height = std::max(bounding_box_.height, 0.8);
+
   ekf_.init(X, P);
 
   // Set lf, lr
@@ -400,10 +405,15 @@
 {
   // if the input shape is convex type, convert it to bbox type
   autoware_auto_perception_msgs::msg::DetectedObject bbox_object;
-  if (object.shape.type != autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX) {
-    utils::convertConvexHullToBoundingBox(object, bbox_object);
-  } else {
+  if (object.shape.type == autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX) {
     bbox_object = object;
+  } else if (object.shape.type == autoware_auto_perception_msgs::msg::Shape::CYLINDER) {
+    // convert cylinder to bbox
+    bbox_object.shape.dimensions.x = object.shape.dimensions.x;
+    bbox_object.shape.dimensions.y = object.shape.dimensions.x;
+    bbox_object.shape.dimensions.z = object.shape.dimensions.z;
+  } else {
+    utils::convertConvexHullToBoundingBox(object, bbox_object);
   }
 
   constexpr float gain = 0.9;
@@ -415,6 +425,11 @@
   last_input_bounding_box_ = {
     bbox_object.shape.dimensions.x, bbox_object.shape.dimensions.y, bbox_object.shape.dimensions.z};
 
+  // set minimum size
+  bounding_box_.length = std::max(bounding_box_.length, 0.5);
+  bounding_box_.width = std::max(bounding_box_.width, 0.3);
+  bounding_box_.height = std::max(bounding_box_.height, 0.8);
+
   // update lf, lr
   lf_ = std::max(bounding_box_.length * 0.3, 0.3);  // 30% front from the center, minimum of 0.3m
   lr_ = std::max(bounding_box_.length * 0.3, 0.3);  // 30% rear from the center, minimum of 0.3m

perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp

@@ -157,6 +157,11 @@
   /* calc nearest corner index*/
   setNearestCornerOrSurfaceIndex(self_transform);  // this index is used in next measure step
 
+  // set minimum size
+  bounding_box_.length = std::max(bounding_box_.length, 2.5);
+  bounding_box_.width = std::max(bounding_box_.width, 1.0);
+  bounding_box_.height = std::max(bounding_box_.height, 1.0);
+
   // Set lf, lr
   lf_ = std::max(bounding_box_.length * 0.3, 1.5);   // 30% front from the center, minimum of 1.5m
   lr_ = std::max(bounding_box_.length * 0.25, 1.5);  // 25% rear from the center, minimum of 1.5m
@@ -455,6 +460,11 @@
   last_input_bounding_box_ = {
     bbox_object.shape.dimensions.x, bbox_object.shape.dimensions.y, bbox_object.shape.dimensions.z};
 
+  // set minimum size
+  bounding_box_.length = std::max(bounding_box_.length, 2.5);
+  bounding_box_.width = std::max(bounding_box_.width, 1.0);
+  bounding_box_.height = std::max(bounding_box_.height, 1.0);
+
   // update lf, lr
   lf_ = std::max(bounding_box_.length * 0.3, 1.5);   // 30% front from the center, minimum of 1.5m
   lr_ = std::max(bounding_box_.length * 0.25, 1.5);  // 25% rear from the center, minimum of 1.5m

perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp

@@ -157,6 +157,11 @@
   /* calc nearest corner index*/
   setNearestCornerOrSurfaceIndex(self_transform);  // this index is used in next measure step
 
+  // set minimum size
+  bounding_box_.length = std::max(bounding_box_.length, 1.5);
+  bounding_box_.width = std::max(bounding_box_.width, 0.5);
+  bounding_box_.height = std::max(bounding_box_.height, 1.0);
+
   // Set lf, lr
   lf_ = std::max(bounding_box_.length * 0.3, 1.0);   // 30% front from the center, minimum of 1.0m
   lr_ = std::max(bounding_box_.length * 0.25, 1.0);  // 25% rear from the center, minimum of 1.0m
@@ -455,6 +460,11 @@
   last_input_bounding_box_ = {
     bbox_object.shape.dimensions.x, bbox_object.shape.dimensions.y, bbox_object.shape.dimensions.z};
 
+  // set minimum size
+  bounding_box_.length = std::max(bounding_box_.length, 1.5);
+  bounding_box_.width = std::max(bounding_box_.width, 0.5);
+  bounding_box_.height = std::max(bounding_box_.height, 1.0);
+
   // update lf, lr
   lf_ = std::max(bounding_box_.length * 0.3, 1.0);   // 30% front from the center, minimum of 1.0m
   lr_ = std::max(bounding_box_.length * 0.25, 1.0);  // 25% rear from the center, minimum of 1.0m

perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp

@@ -143,6 +143,13 @@
     cylinder_ = {object.shape.dimensions.x, object.shape.dimensions.z};
   }
 
+  // set minimum size
+  bounding_box_.length = std::max(bounding_box_.length, 0.3);
+  bounding_box_.width = std::max(bounding_box_.width, 0.3);
+  bounding_box_.height = std::max(bounding_box_.height, 0.8);
+  cylinder_.width = std::max(cylinder_.width, 0.3);
+  cylinder_.height = std::max(cylinder_.height, 0.8);
+
   ekf_.init(X, P);
 }
 
@@ -317,6 +324,13 @@
     return false;
   }
 
+  // set minimum size
+  bounding_box_.length = std::max(bounding_box_.length, 0.3);
+  bounding_box_.width = std::max(bounding_box_.width, 0.3);
+  bounding_box_.height = std::max(bounding_box_.height, 0.8);
+  cylinder_.width = std::max(cylinder_.width, 0.3);
+  cylinder_.height = std::max(cylinder_.height, 0.8);
+
   return true;
 }