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fix(multi_object_tracker): make sure smallest unknown footprint is 0.3 #6618

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fix(multi_object_tracker): make sure smallest unknown footprint is 0.3 #6618

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ac5c65a
fix(multi_object_tracker): make sure there are enough points to calc iou
mebasoglu Mar 18, 2024
fc77098
refactor(object_recognition_utils): validate polygons by their area size
mebasoglu Mar 19, 2024
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fix(multi_object_tracker): make sure there are enough points to calc iou 
Signed-off-by: Mehmet Emin BAŞOĞLU <mehmeteminbasoglu@hotmail.com>
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@mebasoglu
mebasoglu committed Mar 19, 2024
commit ac5c65a508a18ef9ba20086f849c7b7c01ed5713
6 changes: 6 additions & 0 deletions common/object_recognition_utils/include/object_recognition_utils/matching.hpp
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Original file line number Diff line number Diff line change
@@ -65,6 +65,12 @@ inline double getUnionArea(const Polygon2d & source_polygon, const Polygon2d & t
template <class T1, class T2>
double get2dIoU(const T1 source_object, const T2 target_object, const double min_union_area = 0.01)
{
if (
source_object.shape.type == autoware_auto_perception_msgs::msg::Shape::POLYGON &&
source_object.shape.footprint.points.size() < 3) {
return 0.0;
}

const auto source_polygon = tier4_autoware_utils::toPolygon2d(source_object);
const auto target_polygon = tier4_autoware_utils::toPolygon2d(target_object);

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