feat(multi_object_tracker): object position update by size change #7170
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Signed-off-by: Taekjin LEE <[email protected]>
… previous object size Signed-off-by: Taekjin LEE <[email protected]>
Signed-off-by: Taekjin LEE <[email protected]>
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) * fix: update object position offset caused by size change Signed-off-by: Taekjin LEE <[email protected]> * fix: update object size only by updating object size, do not memorize previous object size Signed-off-by: Taekjin LEE <[email protected]> * fix: rename message package Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]>
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Description
This PR is to simplify the implementation of #2238, which is a logic to eliminate center position changes due to the detected object size change.
This modification updates objects center point without having impact on its motion model.
In this image, X_(t+1) will be updated to the new C_x and therefore C_x becomes zero.
Therefore, it does not need to contain specific information such as nearest corner or offset, also not need to recover gap between tracker position and object center position.
Tests performed
*(4th Jun) TIER IV INTERNAL test passed 260/264
Effects on system behavior
Not applicable.
Interface changes
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