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feat(perception_utils): enable tracker to track smaller object by adapting min_union_area #2303

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merged 2 commits into from
Nov 18, 2022
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feat(perception_utils): enable tracker to track smaller object by adapting min_union_area #2303

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fdc77f0
update get2dIoU to recv min_union_area
YoshiRi Nov 16, 2022
b77df7e
declare the use of min_union_iou_area in tracker
YoshiRi Nov 18, 2022
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5 changes: 3 additions & 2 deletions common/perception_utils/include/perception_utils/matching.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
Expand All @@ -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;
}

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4 changes: 3 additions & 1 deletion perception/multi_object_tracker/src/data_association/data_association.cpp
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Expand Up @@ -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;
}

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3 changes: 2 additions & 1 deletion perception/multi_object_tracker/src/multi_object_tracker_core.cpp
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Expand Up @@ -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;
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3 changes: 2 additions & 1 deletion perception/object_merger/src/object_association_merger/data_association/data_association.cpp
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Expand Up @@ -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;
}

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