17.6.0

Description

Abstract

• use elliptical model in true_positive, position.x/y, yaw parameter section like noise v2/v3
• add missing parameter sections from noise v2/v3
• rename rotation to yaw to match noise v2/v3

Background

We introduced noise v4 for percepyion topic in #1680.
However, there were some issues with the specs, and this pull-request fixes them.

Details

parameter	changes	note
v4.<config>.ellipse_y_radii	added	add threshold array for ellipse model like noise v2/v3
v4.<config>.position.x.mean	modified	replace with new child parameters ellipse_normalized_x_radius, values
v4.<config>.position.x.standard_deviation	modified	replace with new child parameters ellipse_normalized_x_radius, values
v4.<config>.position.y.mean	modified	replace with new child parameters ellipse_normalized_x_radius, values
v4.<config>.position.y.standard_deviation	modified	replace with new child parameters ellipse_normalized_x_radius, values
v4.<config>.rotation.*	removed	rename to yaw to match previous models
v4.<config>.yaw.*	added	rename from rotation to match previous models
v4.<config>.yaw_flip.*	added	added missing yaw_flip section like nouise v2/v3
v4.<config>.true_positive.<br>rate.distance_thresholds	removed	removed to use ellipse model
v4.<config>.true_positive.rate	modified	replace with new child parameters ellipse_normalized_x_radius, values

References

Regression Test: OK

Destructive Changes

This pull-request has destructive changes for perception noise v4.
But, it is an experimental function and this fix request was received from only one user, so it can essentially be interpreted as just a fix.

Known Limitations

Related Issues