Closed mebasoglu closed 6 months ago
@mebasoglu Thanks for your report. I think the fundamental problem with this issue is in the IoU calculation part.
Since we can not calculate IoU with line or point shape, which means the footprint length is 1 or 2, we should add escape sequence in object_recognition_utils::get2dIoU
function.
Could you change the function rather than fixing multi_object_tracker_node? https://github.com/autowarefoundation/autoware.universe/blob/e1d19d6c9d0fa86f85c0f7a9c92a0df2ef638684/common/object_recognition_utils/include/object_recognition_utils/matching.hpp#L66
cc:@yukkysaito @armaganarsln
Checklist
Description
Sometimes, the input DetectedObjects message has an unknown object that has only one point inside the footprint field which is 0,0,0 point. When this message arrives, the node dies. Here is the terminal output:
This issue is related with:
and this issue was solved for various known objects. However it still occurs for unknown objects.
Expected behavior
The
multi_object_tracker
node should continue work even there are 0,0,0 footprint points.Actual behavior
The node dies.
Steps to reproduce
The problem occurs when there is only
x=0
,y=0
,z=0
point inside the footprint of the unknown object from/perception/object_recognition/detection/objects
topic.I have a bag file to launch logging simulator, I can provide it if requested.
Versions
Possible causes
The error is caused on this line: https://github.com/autowarefoundation/autoware.universe/blob/ca46a8f34126cc9d1119c9cd11c80cda7de05578/perception/multi_object_tracker/src/data_association/data_association.cpp#L210-L211
Here,
measurement_object.shape.footprint.points
has only one point which is 0,0,0.On https://github.com/autowarefoundation/autoware.universe/pull/6597, the minimum possible dimension was set as
0.3
. Making also the footprint point0.3, 0.3, 0.3
fixes the problem.I tried adding this before the provided line above:
I am not sure if this is the best approach to fix but I will create a pull request to get review.
Additional context
No response