From 6463351b8b9867f7c6568818ed3f5d4197840aac Mon Sep 17 00:00:00 2001 From: Yukihiro Saito Date: Fri, 3 Dec 2021 11:30:23 +0900 Subject: [PATCH] fix: fix pedestrian shape (#760) Signed-off-by: wep21 --- .../src/tracker/model/pedestrian_tracker.cpp | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp index 88bd5f44488c4..f69ac9426e974 100644 --- a/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp +++ b/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp @@ -401,9 +401,15 @@ bool PedestrianTracker::getTrackedObject( P(IDX::WZ, IDX::WZ); // set shape - object.shape.dimensions.x = bounding_box_.width; - object.shape.dimensions.y = bounding_box_.length; - object.shape.dimensions.z = bounding_box_.height; + if (object.shape.type == autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX) { + object.shape.dimensions.x = bounding_box_.width; + object.shape.dimensions.y = bounding_box_.length; + object.shape.dimensions.z = bounding_box_.height; + } else if (object.shape.type == autoware_auto_perception_msgs::msg::Shape::CYLINDER) { + object.shape.dimensions.x = cylinder_.width; + object.shape.dimensions.y = cylinder_.width; + object.shape.dimensions.z = cylinder_.height; + } return true; }