feat(perception_launch): update tracking parameter (#488)

* feat(multi_object_tracker): increase max-area for truck Signed-off-by: tomoya.kimura <[email protected]> * feat(multi_object_tracker): update bus size Signed-off-by: tomoya.kimura <[email protected]> Signed-off-by: tomoya.kimura <[email protected]>
tier4 · Sep 20, 2022 · 23f773b · 23f773b
1 parent 62578e4
commit 23f773b
Showing 1 changed file with 7 additions and 5 deletions.
diff --git a/...onfig/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/...onfig/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
@@ -22,12 +22,14 @@
        3.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0,       #BICYCLE
        2.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0]       #PEDESTRIAN
     max_area_matrix:
+      # NOTE(yukke42): The size of truck is 12 m length x 3 m width.
+      # NOTE(yukke42): The size of trailer is 20 m length x 3 m width.
       #UNKNOWN,  CAR,      TRUCK,    BUS,      TRAILER,   MOTORBIKE, BICYCLE,  PEDESTRIAN
-      [10000.00, 10000.00, 10000.00, 10000.00, 10000.00,  10000.00,  10000.00, 10000.00,   #UNKNOWN
-          12.10,    12.10,    19.75,    40.00,    40.00,  10000.00,  10000.00, 10000.00,   #CAR
-          19.75,    12.10,    19.75,    40.00,    40.00,  10000.00,  10000.00, 10000.00,   #TRUCK
-          40.00,    12.10,    19.75,    40.00,    40.00,  10000.00,  10000.00, 10000.00,   #BUS
-          40.00,    12.10,    19.75,    40.00,    40.00,  10000.00,  10000.00, 10000.00,   #TRAILER
+        [100.00,   100.00,   100.00,   100.00,   100.00,    100.00,    100.00,   100.00,   #UNKNOWN
+          12.10,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #CAR
+          36.00,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #TRUCK
+          60.00,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #BUS
+          60.00,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #TRAILER
            2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.00,   #MOTORBIKE
            2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.00,   #BICYCLE
            2.00, 10000.00, 10000.00, 10000.00, 10000.00,      1.50,      1.50,     1.00]   #PEDESTRIAN