feat(lidar_centerpoint, multi_object_tracker) : Use velocity estimated by CenterPoint to stabilize initial velocity of tracker

[MasatoSaeki]

Description

To accurately estimate velocity of suddenly appearing objects. Previously, initial velocity of tracker was 0.

Tracking output (without Prediction)

Applied (has_twist=true)

has_twist_true.trackingOutput.webm

Not applied (has_twist=false)

has_twist.false.trackingOutput.webm

Optional : Detection output (without Tracking and Prediction)

Velocity by CenterPoint (has_twist=true)

has_twist.true.detectionOutput.webm

Related links

Nothing.

Tests performed

Notes for reviewers

change has_twist=false to has_twist=true in config to reproduce

Interface changes

Nothing.

Effects on system behavior

Nothing.

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[stale]

This pull request has been automatically marked as stale because it has not had recent activity.