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feat(traffic_light_multi_camera_fusion): take confidence into consideration #6267

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merged 2 commits into from
Feb 19, 2024
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feat(traffic_light_multi_camera_fusion): take confidence into consideration #6267

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31d7f11
fix: highest confidence
tzhong518 Jan 26, 2024
564bf45
fix: use the confidence of the first element
tzhong518 Feb 16, 2024
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10 changes: 3 additions & 7 deletions perception/traffic_light_multi_camera_fusion/src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,13 +82,9 @@
int visible_score_1 = calVisibleScore(r1);
int visible_score_2 = calVisibleScore(r2);
if (visible_score_1 == visible_score_2) {
int area_1 = r1.roi.roi.width * r1.roi.roi.height;
int area_2 = r2.roi.roi.width * r2.roi.roi.height;
if (area_1 < area_2) {
return -1;
} else {
return static_cast<int>(area_1 > area_2);
}
double confidence_1 = r1.signal.elements[0].confidence;
double confidence_2 = r2.signal.elements[0].confidence;
return confidence_1 < confidence_2 ? -1 : 1;

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} else {
return visible_score_1 < visible_score_2 ? -1 : 1;
}
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