Open s-kodama-isp opened 3 years ago
We found that detected results by leg_detector are different between Kinetic and Melodic in our internal test. It looked that bugs pointed out in #67 about leg probabilities remain in the Melodic version. We think that the probability calculation in leg_detector.cpp(L735-737) is wrong. https://github.com/wg-perception/people/blob/bc73fa0c2ff96da27688e3ad503a1aa4342d214a/leg_detector/src/leg_detector.cpp#L735-L737
As results, probabilities take values between -0.5 and 1.5.
So, we want to fix as below.
float probability = 0.5 + 0.5 * static_cast<float>(forest->predict(tmp_mat, cv::noArray(), cv::ml::RTrees::PREDICT_SUM)) / static_cast<float>(forest->getRoots().size());
After we fixed this bug as the above, we got almost the same results between Kinetic and Melodic in our internal test. We will create a pull request. Thanks.
We found that detected results by leg_detector are different between Kinetic and Melodic in our internal test. It looked that bugs pointed out in #67 about leg probabilities remain in the Melodic version. We think that the probability calculation in leg_detector.cpp(L735-737) is wrong. https://github.com/wg-perception/people/blob/bc73fa0c2ff96da27688e3ad503a1aa4342d214a/leg_detector/src/leg_detector.cpp#L735-L737
As results, probabilities take values between -0.5 and 1.5.
So, we want to fix as below.
After we fixed this bug as the above, we got almost the same results between Kinetic and Melodic in our internal test. We will create a pull request. Thanks.