Perception: isolate location refinement state per object#15782
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BISTU-gzy wants to merge 1 commit intoApolloAuto:masterfrom
Open
Perception: isolate location refinement state per object#15782BISTU-gzy wants to merge 1 commit intoApolloAuto:masterfrom
BISTU-gzy wants to merge 1 commit intoApolloAuto:masterfrom
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Rebuild the location refiner postprocessor options for each object so ground-boundary line segments do not leak across detections. Also skip refinement cleanly when the calibration service cannot provide a valid ground plane, and add regression tests for both behaviors.
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Summary
ObjPostProcessorOptionsfor each detected object so ground-boundary line segments do not leak across objectscamera_location_refinementRoot Cause
LocationRefinerPostprocessor::Process()reused oneObjPostProcessorOptionsinstance across the object loop and appended toline_segson every iteration. This made later objects depend on line segments collected from earlier detections.The same function also continued into the refinement path even when
QueryGroundPlaneInCameraFrame()failed, despite the refinement logic requiring a valid ground plane.Testing
location_refiner_postprocessor_test