tracker_multicamera.yaml

#########################
## Tracking parameters ##
#########################
# Mininum confidence for track initialization:
min_confidence_initialization: 0.0
# Tracking maximum frame rate per sensor:
rate: 30
# Tracking reference frame:
world_frame_id: "/world"
# Voxel size used for people detection:
voxel_size: 0.06
# Flag stating if extrinsic (multicamera) calibration has been performed or not:
extrinsic_calibration: true
# Maximum delay that a detection message can have in order to be considered for tracking:
max_detection_delay: 2.0
# Flag stating if the results of a calibration refinement procedure should be used to correct detection positions: 
calibration_refinement: true

########################
## Sensor orientation ##
########################
# Flag stating if the sensor is vertically placed, or not:
orientation:
  vertical: false

#######################
## Motion parameters ##
#######################
# The higher is this, the higher motion variance is allowed
# it can assume these values: 0.5 0.75 0.8 0.9 0.95 0.98 0.99 0.995 0.998 0.999
gate_distance_probability: 0.99
# Acceleration variance in people motion model:
acceleration_variance: 100
# Additional weight for position variance in people motion model:
position_variance_weight: 30
  
#################################
## Data association parameters ##
#################################
# Flag stating if detection likelihood should be used in data association:
detector_likelihood: true
# Flag stating if track velocity should be considered in data association:
velocity_in_motion_term: true
# Weight of detection likelihood in data association:
detector_weight: -0.25
# Weight of motion likelihood in data association:
motion_weight: 0.25

################################
## Tracking policy parameters ##
################################
# Track duration (seconds) after last valid detection:
sec_before_old: 8
# Seconds within which a track should be validated (otherwise it is discarded):
sec_before_fake: 2.4
# Seconds after which a visible track obtain NORMAL status:
sec_remain_new: 1.2
# Minimum number of detection<->track associations needed for validating a track:
detections_to_validate: 3

###########
## Debug ##
###########
# Flag activating debug/visualization options:
debug_active: true
# Flag stating if a point cloud containing track trajectories (visible in RViz) should be created:
history_pointcloud: true
# Dimension of the point cloud containing track trajectories:
history_size: 500
# Flag stating if a spheric marker (with number) for every track (visible in RViz) should be created:
markers: true
# Flag stating if tracking results should be sent over the network:
tracking_results: true
# Flag stating if markers and a point cloud containing detection trajectories (visible in RViz) should be created:
detection_debug: true
# Dimension of the point cloud containing detection trajectories:
detection_history_size: 500