shape_estimation 변경 및 개선 사항

Contents

• 역할
• Architecture
• 변경 및 개선 사항
  • /corrector/yaw_fixed/bus_corrector.cpp
  • /corrector/yaw_fixed/car_corrector.cpp
  • /corrector/yaw_fixed/bike_corrector.cpp
  • /corrector/yaw_fixed/bike_corrector.hpp
  • /filter/bus_filter.cpp
  • /filter/car_filter.cpp
  • /filter/bike_filter.cpp, /filter/bike_filter.hpp
  • /shape_estimator.cpp
  • /node.cpp

역할

• segmentation된 labeled_clusters 토픽을 받아 bounding box를 만들어 detection 결과를 내는 부분

Architecture

변경 및 개선 사항

/corrector/yaw_fixed/bus_corrector.cpp

1. 파라미터 변경
   • Original

     constexpr double min_length = 0.1;
     constexpr double max_length = 14.5;
     constexpr double min_width = 0.2;
     constexpr double max_width = 4.5;
     const double avg_length = 6.74;

   • Ours

     const double min_width = 1.9;
     const double max_width = 3.15;
     const double min_length = 7.0;
     const double max_length = 17.0;
     const double avg_length = 7.0;

/corrector/yaw_fixed/car_corrector.cpp

1. 파라미터 변경
   • Original

     const double min_width = 1.2;
     const double max_width = 2.2;
     const double min_length = 3.0;
     const double max_length = 5.0;

   • Ours

     const double min_width = 1.2;
     const double max_width = 2.3;
     const double min_length = 3.0;
     const double max_length = 6.0;

/corrector/yaw_fixed/bike_corrector.cpp

/corrector/yaw_fixed/bike_corrector.hpp

1. 이륜차 detect 이슈 해결을 위해 bike_corrector 추가

/filter/bus_filter.cpp

1. 파라미터 변경
   • Original

     constexpr double min_width = 2.0;
     constexpr double max_width = 2.9;
     constexpr double min_length = 5.0;
     constexpr double max_length = 17.0;

   • Ours

     constexpr double min_width = 1.9;
     constexpr double max_width = 3.15;
     constexpr double min_length = 7.0;
     constexpr double max_length = 17.0;

/filter/car_filter.cpp

1. 파라미터 변경
   • Original

     constexpr double min_width = 1.2;
     constexpr double max_width = 2.2;
     constexpr double min_length = 3.0;
     constexpr double max_length = 5.0;

   • Ours

     constexpr double min_width = 1.2;
     constexpr double max_width = 2.3;
     constexpr double min_length = 3.0;
     constexpr double max_length = 6.0;

/filter/bike_filter.cpp, /filter/bike_filter.hpp

1. 이륜차 detect 이슈 해결을 위해 bike_filter 추가

/shape_estimator.cpp

1. 이륜차 detect 이슈 해결을 위해 MOTORBIKE, BICYCLE에도 yaw_fixed::BoundingBoxModel 추가 적용
   • Original

     else if (type == autoware_perception_msgs::Semantic::MOTORBIKE) {
     	model_ptr.reset(new normal::BoundingBoxModel);
     } else if (type == autoware_perception_msgs::Semantic::BICYCLE) {
     	model_ptr.reset(new normal::BoundingBoxModel);
     }

   • Ours

     else if (type == autoware_perception_msgs::Semantic::MOTORBIKE) {
     	if (orientation_reliable_) {
     		model_ptr.reset(new yaw_fixed::BoundingBoxModel(l_shape_fitting_search_angle_range_));
     	} else {
     		model_ptr.reset(new normal::BoundingBoxModel);
     	}
     } else if (type == autoware_perception_msgs::Semantic::BICYCLE) {
     	if (orientation_reliable_) {
     		model_ptr.reset(new yaw_fixed::BoundingBoxModel(l_shape_fitting_search_angle_range_));
     	} else {
     			model_ptr.reset(new normal::BoundingBoxModel);
     	}
     }

2. 이륜차 detect 이슈 해결을 위해 MOTORBIKE, BICYCLE에도 filter 추가 적용
   • Original None
   • Ours

     else if (type == autoware_perception_msgs::Semantic::MOTORBIKE){
     	filter_ptr.reset(new BikeFilter);
     } else if (type == autoware_perception_msgs::Semantic::BICYCLE){
     	filter_ptr.reset(new BikeFilter);
     	else if (type == autoware_perception_msgs::Semantic::MOTORBIKE) {
     		if (orientation_reliable_)
     		corrector_ptr.reset(new yaw_fixed::BikeCorrector);
     		else
     		corrector_ptr.reset(new normal::BikeCorrector);
     	} else if (type == autoware_perception_msgs::Semantic::BICYCLE) {
     		if (orientation_reliable_)
     		corrector_ptr.reset(new yaw_fixed::BikeCorrector);
     		else
     		corrector_ptr.reset(new normal::BikeCorrector);

/node.cpp

1. NaN filtering 추가 적용
   • Original None
   • Ours Shape estimation msg에서 INF, NaN값 필터링 추가