fix(detected_object_validation): consider shoulder lanelet in object lanelet filter #5324
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…lanelet filter Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
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Additional details and impacted files@@ Coverage Diff @@
## main #5324 +/- ##
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- Coverage 14.77% 14.77% -0.01%
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Files 1664 1664
Lines 115081 115085 +4
Branches 35496 35496
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Hits 17008 17008
- Misses 78889 78893 +4
Partials 19184 19184
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…lanelet filter (autowarefoundation#5324) * fix(detected_object_validation): consider shoulder lanelet in object lanelet filter Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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…lanelet filter (autowarefoundation#5324) * fix(detected_object_validation): consider shoulder lanelet in object lanelet filter Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
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Description
Current object lanelet filter only considers the "road" lanelet.
This PR takes into account the "shoulder" lanelet where objects are filtered.
This idea is based on the current shoulder lane parking design, which considers objects in or accross the shoulder lanes.
Related links
This PR can address the Internal ticket.
Tests performed
Before
The objects in or across the shoulder lanelet are filtered after object_lanelet_filter node.
The unknown objects in the picture shows
/perception/object_recognition/detection/objectsScreencast.from.2023.10.16.20.25.04.webm
After
The objects in or across the shoulder lanelet are not filtered after object_lanelet_filter node.
Screencast.from.2023.10.16.18.44.46.webm
Notes for reviewers
No
Interface changes
No
Effects on system behavior
This PR enables objects on the shoulder lanelet will be intentionally filtered.
If this is the case, the latent unknown objects will appear on the road shoulder which bother the road shoulder parking.
This suggests that we might need to seperate the road filter and shoulder filter in the future.
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Post-review checklist for the PR author
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