feat(map_based_prediction): remove crossing fence path #5356
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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
kyoichi-sugahara
requested review from
ktro2828,
miursh,
takayuki5168,
tkimura4,
YoshiRi and
purewater0901
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component:perception
kyoichi-sugahara
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YoshiRi
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Oct 19, 2023
| predicted_objects.objects.end()); | ||
| } | ||
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|
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| bool MapBasedPredictionNode::crossWithFence(const PredictedPath & predicted_path) |
There was a problem hiding this comment.
[imo] I prefer more specific function name.
Suggested change
| bool MapBasedPredictionNode::crossWithFence(const PredictedPath & predicted_path) | |
| bool MapBasedPredictionNode::doesPathCrossAnyFence(const PredictedPath & predicted_path) |
kyoichi-sugahara
added
tag:run-build-and-test-differential
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #5356 +/- ##
==========================================
- Coverage 14.77% 14.76% -0.01%
==========================================
Files 1662 1662
Lines 115385 115394 +9
Branches 35616 35610 -6
==========================================
- Hits 17043 17039 -4
- Misses 79118 79132 +14
+ Partials 19224 19223 -1
*This pull request uses carry forward flags. Click here to find out more.
☔ View full report in Codecov by Sentry. |
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
kyoichi-sugahara
merged commit a57671d
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autowarefoundation:main
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kyoichi-sugahara
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that referenced
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Oct 19, 2023
…ation#5356) * remove crossing fence path Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
4 tasks
saka1-s
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Oct 20, 2023
feat(map_based_prediction): remove crossing fence path (autowarefoundation#5356)
HansOersted
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that referenced
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Mar 8, 2024
[universe] 33dbaa4 feat(tier4_perception_launch): make switchable detection by tracker in x2 project (autowarefoundation#964) 940fb2b Merge pull request autowarefoundation#965 from tier4/beta/v0.11.0+PR5356 5aa9db1 feat(map_based_prediction): remove crossing fence path (autowarefoundation#5356) [common] c3a1a19 fix(visualization): display traffic reg elem id (autowarefoundation#210) 36b3825 feat(lanelet2_extention): add getAllFences (autowarefoundation#209) 44dc388 docs(lanelet2_extension): add brief description for crosswalk traffic light (autowarefoundation#208) c360614 feat(lanelet2_extensions): add query curbstones from vector map (autowarefoundation#206) [launcher] a2f88f00 feat(autoware_launch): longer prediction 15.0 -> 20.0 (autowarefoundation#482) 87974c0f fix: fix stop_duration_sec param for merge_from_private (autowarefoundation#516) f5a1dfad fix(autoware_launch): fix parameter for light weight grand segmentation (autowarefoundation#506)
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Description
The change of the PR is necessary.
🤖 Generated by Copilot at 3b8af4f
This pull request enhances the
map_based_predictionmodule by adding new functions and comments tomap_based_prediction_node.cppandmap_based_prediction_node.hpp. The new functions filter out predicted pedestrian paths that cross with fences on the lanelet map, using geometry utilities and map information. This improves the accuracy and safety of the prediction module.If a predicted path for a pedestrian is generated that passes through a crosswalk and cross across a fence, do not output that path.
Also, I have added some minor comments and would appreciate any feedback.
Tests performed
Effects on system behavior
Not applicable.
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