obstacle pointcloud based validator node Incorrectly removes the small DetectedObjects (traffic cone) from centerpoint.

[sgNicola]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

The obstacle pointcloud-based validator node is incorrectly removing small DetectedObjects, such as traffic cones, identified by the centerpoint node. This leads to a misdetection.

Expected behavior

The obstacle pointcloud-based validator node should accurately validate and retain all DetectedObjects recognized by the centerpoint node, including small objects like traffic cones.

Actual behavior

The CenterPoint node detects small objects (e.g., traffic cones) with low frequency, but the obstacle point cloud-based validator node subsequently removes these detections.

Steps to reproduce

1. Launch Autoware.Universe in an environment with traffic cones as potential obstacles.
2. Monitor the detection outputs from the centerpoint node and the subsequent validation by the obstacle pointcloud-based validator node.
3. Observe the failure of the validator node to retain valid DetectedObjects (traffic cones) identified initially by the centerpoint node.

Versions

-OS: Ubuntu20.04
-ROS2: ROS2 galactic
-Autoware: Autoware.universe galactic

Possible causes

1. Low Detection Frequency: The CenterPoint node may not be optimally configured or may lack the sensitivity needed to consistently detect small objects.
2. Validation Thresholds: The obstacle point cloud-based validator node may have stringent thresholds or criteria that do not favor the retention of small, infrequently detected objects.

Additional context

No response

[meliketanrikulu]

@sgNicola Thanks for your contribution. Could you share example data to reproduce this problem.

[sgNicola]

Hi, I have shared the ros2bag in this Google Drive link [provided.]
https://drive.google.com/drive/folders/1CtjPF1jNsm2bRsyisEOX7EJDEtoroJnX?usp=drive_link

[meliketanrikulu]

provided
@sgNicola I can not open data link . Could you check the link . Thank you

[sgNicola]

Hi, @meliketanrikulu , I have checked the visiting property, could you please try again? Thank you.