feat(traffic_light_multi_camera_fusion): take confidence into consideration #6267
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Signed-off-by: tzhong518 <sworgun@gmail.com>
Signed-off-by: tzhong518 <sworgun@gmail.com>
miursh
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Feb 17, 2024
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #6267 +/- ##
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Coverage 14.58% 14.58%
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Files 1868 1868
Lines 127493 127492 -1
Branches 37317 37317
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+ Misses 87974 87973 -1
Partials 20919 20919
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…ration (autowarefoundation#6267) * fix: highest confidence Signed-off-by: tzhong518 <sworgun@gmail.com> * fix: use the confidence of the first element Signed-off-by: tzhong518 <sworgun@gmail.com> --------- Signed-off-by: tzhong518 <sworgun@gmail.com>
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…ration (autowarefoundation#6267) * fix: highest confidence Signed-off-by: tzhong518 <sworgun@gmail.com> * fix: use the confidence of the first element Signed-off-by: tzhong518 <sworgun@gmail.com> --------- Signed-off-by: tzhong518 <sworgun@gmail.com>
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…sion feat(traffic_light_multi_camera_fusion): take confidence into consideration(autowarefoundation#6267)
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…ration (#6267) * fix: highest confidence Signed-off-by: tzhong518 <sworgun@gmail.com> * fix: use the confidence of the first element Signed-off-by: tzhong518 <sworgun@gmail.com> --------- Signed-off-by: tzhong518 <sworgun@gmail.com> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
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…ration (autowarefoundation#6267) * fix: highest confidence Signed-off-by: tzhong518 <sworgun@gmail.com> * fix: use the confidence of the first element Signed-off-by: tzhong518 <sworgun@gmail.com> --------- Signed-off-by: tzhong518 <sworgun@gmail.com>
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…ration (autowarefoundation#6267) * fix: highest confidence Signed-off-by: tzhong518 <sworgun@gmail.com> * fix: use the confidence of the first element Signed-off-by: tzhong518 <sworgun@gmail.com> --------- Signed-off-by: tzhong518 <sworgun@gmail.com>
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Description
The purpose of this PR is to avoid mistrial resulted from low-confidence misdetection.
Before, the multi camera fusion is based only on the size and truncation state of the rois. As a consequence, if the misdetected roi is not truncated and has the biggest area among the group, the fusion result could be misled to green as below.
Trusting the results with the highest confidence instead of area could avoid such problem. And it also seems reliable in other situations as far as we observed.
left: detection result
right: fusion result
Related links
Tests performed
Notes for reviewers
Interface changes
Effects on system behavior
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