Feat/v0.19.2/multi tracker sanitize update #1903
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まずは変更点の可視化から。 |
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Description
Update sanitization(prune) process to fix the issue of temp lost for a laying adult found in LSim perception test
追加したソートの考え方：
Known objects(NO-UNKNOWN objs)かどうかを第一条件、meas timeを第二条件としてソートすることで、tracking objの削除が発生する場合は、”必ずインデックスの小さい方が大きい方を消す”ようにして、forループ以後の処理を単純化
(
Added sorting concept:
By sorting with known objects (NO-UNKNOWN objs) as the first condition and mean time as the second condition, when a tracking obj is deleted, the smaller index will always delete the larger one, so that simplifying the processing after the for loop.
)
Related links
TBD
Parent Issue:
How was this PR tested?
Minimum test on evaluator to check there is no side effect
https://evaluation.tier4.jp/evaluation/reports/04ac5b9d-1229-5171-8360-f8d67ce2d7fa?project_id=x2_dev
ベンチマークでは98.1->98.6と0.5ptの改善
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.