From 5c707576649dc9f57d6726ba5c083de2f2f3e6f5 Mon Sep 17 00:00:00 2001 From: Yukihiro Saito Date: Tue, 8 Mar 2022 11:29:15 +0900 Subject: [PATCH] fix bug Signed-off-by: Yukihiro Saito --- .../src/data_association/data_association.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/perception/multi_object_tracker/src/data_association/data_association.cpp b/perception/multi_object_tracker/src/data_association/data_association.cpp index b1d1dfbcf8d22..4d3d83e20f3c0 100644 --- a/perception/multi_object_tracker/src/data_association/data_association.cpp +++ b/perception/multi_object_tracker/src/data_association/data_association.cpp @@ -217,7 +217,7 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix( const double iou = utils::get2dIoU( {measurement_object.kinematics.pose_with_covariance.pose, measurement_object.shape}, {tracked_object.kinematics.pose_with_covariance.pose, tracked_object.shape}); - // if (iou < min_iou) passed_gate = false; + if (iou < min_iou) passed_gate = false; } // all gate is passed @@ -226,7 +226,6 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix( if (score < score_threshold_) score = 0.0; } } - std::cerr << __LINE__ << ":" << score << std::endl; score_matrix(tracker_idx, measurement_idx) = score; } }