feat(perception_utils): enable tracker to track smaller object by ada…

…pting min_union_area (autowarefoundation#2303) * update get2dIoU to recv min_union_area Signed-off-by: Yoshi Ri <yoshi.ri@tier4.jp> * declare the use of min_union_iou_area in tracker Signed-off-by: Yoshi Ri <yoshi.ri@tier4.jp> Signed-off-by: Yoshi Ri <yoshi.ri@tier4.jp> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
HansRobo · Dec 16, 2022 · becf64b · becf64b
1 parent b221e8f
commit becf64b
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Showing 4 changed files with 10 additions and 5 deletions.
diff --git a/common/perception_utils/include/perception_utils/matching.hpp b/common/perception_utils/include/perception_utils/matching.hpp
@@ -63,7 +63,7 @@ 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)
+double get2dIoU(const T1 source_object, const T2 target_object, const double min_union_area = 0.01)
 {
   const auto source_polygon = tier4_autoware_utils::toPolygon2d(source_object);
   const auto target_polygon = tier4_autoware_utils::toPolygon2d(target_object);
@@ -72,7 +72,8 @@ double get2dIoU(const T1 source_object, const T2 target_object)
   if (intersection_area == 0.0) return 0.0;
   const double union_area = getUnionArea(source_polygon, target_polygon);
 
-  const double iou = union_area < 0.01 ? 0.0 : std::min(1.0, intersection_area / union_area);
+  const double iou =
+    union_area < min_union_area ? 0.0 : std::min(1.0, intersection_area / union_area);
   return iou;
 }
 

diff --git a/perception/multi_object_tracker/src/data_association/data_association.cpp b/perception/multi_object_tracker/src/data_association/data_association.cpp
@@ -206,7 +206,9 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
         // 2d iou gate
         if (passed_gate) {
           const double min_iou = min_iou_matrix_(tracker_label, measurement_label);
-          const double iou = perception_utils::get2dIoU(measurement_object, tracked_object);
+          const double min_union_iou_area = 1e-2;
+          const double iou =
+            perception_utils::get2dIoU(measurement_object, tracked_object, min_union_iou_area);
           if (iou < min_iou) passed_gate = false;
         }
 

diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
@@ -262,7 +262,8 @@ void MultiObjectTracker::sanitizeTracker(
         continue;
       }
 
-      const auto iou = perception_utils::get2dIoU(object1, object2);
+      const double min_union_iou_area = 1e-2;
+      const auto iou = perception_utils::get2dIoU(object1, object2, min_union_iou_area);
       const auto & label1 = (*itr1)->getHighestProbLabel();
       const auto & label2 = (*itr2)->getHighestProbLabel();
       bool should_delete_tracker1 = false;

diff --git a/perception/object_merger/src/object_association_merger/data_association/data_association.cpp b/perception/object_merger/src/object_association_merger/data_association/data_association.cpp
@@ -154,7 +154,8 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
         // 2d iou gate
         if (passed_gate) {
           const double min_iou = min_iou_matrix_(object1_label, object0_label);
-          const double iou = perception_utils::get2dIoU(object0, object1);
+          const double min_union_iou_area = 1e-2;
+          const double iou = perception_utils::get2dIoU(object0, object1, min_union_iou_area);
           if (iou < min_iou) passed_gate = false;
         }