chore: fix missing refactoring

autowarefoundation · Jun 13, 2024 · 359bf74 · 359bf74
1 parent f8399e8
commit 359bf74
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Showing 4 changed files with 15 additions and 13 deletions.
diff --git a/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp
@@ -257,11 +257,12 @@ bool BicycleTracker::measureWithShape(const autoware_perception_msgs::msg::Detec
   bounding_box_.height = gain_inv * bounding_box_.height + gain * object.shape.dimensions.z;
 
   // set maximum and minimum size
-  constexpr double max_size = 5.0;
-  constexpr double min_size = 0.3;
-  bounding_box_.length = std::min(std::max(bounding_box_.length, min_size), max_size);
-  bounding_box_.width = std::min(std::max(bounding_box_.width, min_size), max_size);
-  bounding_box_.height = std::min(std::max(bounding_box_.height, min_size), max_size);
+  bounding_box_.length = std::clamp(
+    bounding_box_.length, object_model_.size_limit.length_min, object_model_.size_limit.length_max);
+  bounding_box_.width = std::clamp(
+    bounding_box_.width, object_model_.size_limit.width_min, object_model_.size_limit.width_max);
+  bounding_box_.height = std::clamp(
+    bounding_box_.height, object_model_.size_limit.height_min, object_model_.size_limit.height_max);
 
   // update motion model
   motion_model_.updateExtendedState(bounding_box_.length);

diff --git a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp
@@ -299,10 +299,9 @@ bool BigVehicleTracker::measureWithShape(
     return false;
   }
 
+  // update object size
   constexpr double gain = 0.5;
   constexpr double gain_inv = 1.0 - gain;
-
-  // update object size
   bounding_box_.length = gain_inv * bounding_box_.length + gain * object.shape.dimensions.x;
   bounding_box_.width = gain_inv * bounding_box_.width + gain * object.shape.dimensions.y;
   bounding_box_.height = gain_inv * bounding_box_.height + gain * object.shape.dimensions.z;

diff --git a/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp
@@ -300,10 +300,9 @@ bool NormalVehicleTracker::measureWithShape(
     return false;
   }
 
+  // update object size
   constexpr double gain = 0.5;
   constexpr double gain_inv = 1.0 - gain;
-
-  // update object size
   bounding_box_.length = gain_inv * bounding_box_.length + gain * object.shape.dimensions.x;
   bounding_box_.width = gain_inv * bounding_box_.width + gain * object.shape.dimensions.y;
   bounding_box_.height = gain_inv * bounding_box_.height + gain * object.shape.dimensions.z;

diff --git a/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp
@@ -228,22 +228,25 @@ bool PedestrianTracker::measureWithShape(
     if (!is_size_valid) {
       return false;
     }
-
     // update bounding box size
     bounding_box_.length = gain_inv * bounding_box_.length + gain * object.shape.dimensions.x;
     bounding_box_.width = gain_inv * bounding_box_.width + gain * object.shape.dimensions.y;
     bounding_box_.height = gain_inv * bounding_box_.height + gain * object.shape.dimensions.z;
+
   } else if (object.shape.type == autoware_perception_msgs::msg::Shape::CYLINDER) {
     // check cylinder size abnormality
     constexpr double size_max = 30.0;  // [m]
     constexpr double size_min = 0.1;   // [m]
-    if (object.shape.dimensions.x > size_max || object.shape.dimensions.z > size_max) {
-      return false;
-    } else if (object.shape.dimensions.x < size_min || object.shape.dimensions.z < size_min) {
+    bool is_size_valid =
+      (object.shape.dimensions.x <= size_max && object.shape.dimensions.z <= size_max &&
+       object.shape.dimensions.x >= size_min && object.shape.dimensions.z >= size_min);
+    if (!is_size_valid) {
       return false;
     }
+    // update cylinder size
     cylinder_.width = gain_inv * cylinder_.width + gain * object.shape.dimensions.x;
     cylinder_.height = gain_inv * cylinder_.height + gain * object.shape.dimensions.z;
+
   } else {
     // do not update polygon shape
     return false;