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fix(map_based_prediction): modiry return label #1000

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fix(map_based_prediction): modiry return label #1000

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5 changes: 3 additions & 2 deletions perception/map_based_prediction/src/map_based_prediction_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -441,7 +441,7 @@
label == ObjectClassification::MOTORCYCLE || label == ObjectClassification::BICYCLE) {
// if object is within road lanelet and satisfies yaw constraints
const bool within_road_lanelet = withinRoadLanelet(object, lanelet_map_ptr_, true);
const float high_speed_threshold = 25.0 / 18.0 * 5.0; // High speed bycicle 25 km/h

Check warning on line 444 in perception/map_based_prediction/src/map_based_prediction_node.cpp

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Unknown word (bycicle)
const bool high_speed_object =
object.kinematics.twist_with_covariance.twist.linear.x > high_speed_threshold;

Expand All @@ -450,9 +450,10 @@
return ObjectClassification::MOTORCYCLE;
} else if (high_speed_object) {
// high speed object outside road lanelet will move like unknown object
return ObjectClassification::UNKNOWN;
// return ObjectClassification::UNKNOWN;
return label;
} else {
return label == ObjectClassification::BICYCLE;
return ObjectClassification::BICYCLE;
}
} else if (label == ObjectClassification::PEDESTRIAN) {
const bool within_road_lanelet = withinRoadLanelet(object, lanelet_map_ptr_, true);
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