refactor(multi_object_tracker): set shape type to BOUNDING_BOX for object trackers

Author: technolojin

perception/autoware_multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp

@@ -50,6 +50,8 @@ BicycleTracker::BicycleTracker(const rclcpp::Time & time, const types::DynamicOb
     object_extension.y = object_model_.init_size.width;
     object_extension.z = object_model_.init_size.height;
   }
+  object_.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX;
+
   // set maximum and minimum size
   limitObjectExtension(object_model_);
 

perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_tracker.cpp

@@ -163,6 +163,9 @@ bool PedestrianTracker::measureWithShape(const types::DynamicObject & object)
     return false;
   }
 
+  // update shape type
+  object_.shape.type = object.shape.type;
+
   return true;
 }
 

perception/autoware_multi_object_tracker/lib/tracker/model/unknown_tracker.cpp

@@ -165,12 +165,12 @@ bool UnknownTracker::getTrackedObject(
   const rclcpp::Time & time, types::DynamicObject & object) const
 {
   object = object_;
+
+  // predict from motion model
   auto & pose = object.pose;
   auto & pose_cov = object.pose_covariance;
   auto & twist = object.twist;
   auto & twist_cov = object.twist_covariance;
-
-  // predict from motion model
   if (!motion_model_.getPredictedState(time, pose, pose_cov, twist, twist_cov)) {
     RCLCPP_WARN(logger_, "UnknownTracker::getTrackedObject: Failed to get predicted state.");
     return false;

perception/autoware_multi_object_tracker/lib/tracker/model/vehicle_tracker.cpp

@@ -60,6 +60,8 @@ VehicleTracker::VehicleTracker(
     object_extension.y = object_model_.init_size.width;
     object_extension.z = object_model_.init_size.height;
   }
+  object_.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX;
+
   // set maximum and minimum size
   limitObjectExtension(object_model_);