fix(tracking_object_merger): merge velocity base on target object coordinate system

[technolojin]

Description

Related previous work (PR) : #5853

The multi-object tracker (mainly from lidar, blue box) has opposite direction and when the radar object is also used to obtain velocity, the merger trusts the orientation of the main object (lidar object). As result, the merged object (yellow box) has the reversed direction.

tracker_merge_reversed_obj.mp4

Previous
Current tracked object merger treats velocity as scalar value, and determine its direction based on some logic which causes this issue.

Fixed
The velocity merger converts measured velocity vector to target object coordinate system.

TIER IV INTERNAL

Tests performed

Tested on recordings had the relevant issue

tracker_merge_reversed_obj_fixed_3.mp4

Effects on system behavior

The merged result will not have artificial result of velocity orientation.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

[yukkysaito]

@YoshiRi May I request a review?

[YoshiRi]

Thanks, LGTM

[codecov]

Codecov Report

Attention: 23 lines in your changes are missing coverage. Please review.

Comparison is base (c67bbe7) 15.13% compared to head (8c3a43a) 15.13%.
Report is 3 commits behind head on main.

Files	Patch %	Lines
...ception/tracking_object_merger/src/utils/utils.cpp	0.00%	23 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6457      +/-   ##
==========================================
- Coverage   15.13%   15.13%   -0.01%     
==========================================
  Files        1819     1819              
  Lines      126013   126017       +4     
  Branches    38180    38180              
==========================================
  Hits        19073    19073              
- Misses      85551    85556       +5     
+ Partials    21389    21388       -1     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	15.13% <ø> (+<0.01%)	⬆️	Carriedforward from dd52489

*This pull request uses carry forward flags. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.