fix(autoware_image_projection_based_fusion): detected object roi box projection fix #9519
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technolojin
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| max_y = std::min(max_y, image_height - 1); | ||
| const uint32_t idx_min_x = std::floor(std::max(min_x, 0.0)); | ||
| const uint32_t idx_min_y = std::floor(std::max(min_y, 0.0)); | ||
| const uint32_t idx_max_x = std::ceil(std::min(max_x, image_width)); |
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Shouldn't we subtract 1 from image_width? Isn't width the value of size that doesn't account for zero-based indexing?
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The roi boundary is the coordinate of image in pixel, not index.
If we think 1 by 1 pixel image and 1 by 1 ROI, min is (0,0) and max is (1,1).
Therefore, the possible maximum value should be the image_width, not image_width - 1
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If the following nodes expect the maximum value to image_width - 1, we may need to align relevant nodes.
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Understood. 👍
Have you conducted a simple test for verification?
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I will find a simple test method and will post to the description.
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@yukkysaito
Tests on objects at image edges are done and the results are visualized as the description.
1. eliminate misuse of std::numeric_limits<double>::min() 2. fix roi range up to the image edges Signed-off-by: Taekjin LEE <[email protected]>
Improve the calculation of the region of interest (ROI) in the RoiDetectedObjectFusionNode. The previous code had an issue where the ROI range was not correctly limited to the image edges. This fix ensures that the ROI is within the image boundaries by using the correct comparison operators for the x and y coordinates. Signed-off-by: Taekjin LEE <[email protected]>
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Description
std::numeric_limits<double>::min()Related links
Parent Issue:
How was this PR tested?
Objects at the edges are fused without issue.
Notes for reviewers
It will be merged after #9505 is merged and the build issue is resolved.
Interface changes
None.
Effects on system behavior
None.