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feat: change car size param in shape estimation #1709

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Sep 7, 2022
Merged

feat: change car size param in shape estimation #1709

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4 changes: 2 additions & 2 deletions perception/shape_estimation/include/shape_estimation/corrector/car_corrector.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,10 +28,10 @@ class CarCorrector : public ShapeEstimationCorrectorInterface
explicit CarCorrector(bool use_reference_yaw = false) : use_reference_yaw_(use_reference_yaw)
{
params_.min_width = 1.2;
params_.max_width = 2.2;
params_.max_width = 2.5;
params_.avg_width = (params_.min_width + params_.max_width) * 0.5;
params_.min_length = 3.0;
params_.max_length = 5.0;
params_.max_length = 5.8;
params_.avg_length = (params_.min_length + params_.max_length) * 0.5;
}

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4 changes: 2 additions & 2 deletions perception/shape_estimation/lib/filter/car_filter.cpp
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Expand Up @@ -19,7 +19,7 @@ bool CarFilter::filter(
[[maybe_unused]] const geometry_msgs::msg::Pose & pose)
{
constexpr float min_width = 1.2;
constexpr float max_width = 2.2;
constexpr float max_length = 5.0;
constexpr float max_width = 2.5;
constexpr float max_length = 5.8;
return utils::filterVehicleBoundingBox(shape, min_width, max_width, max_length);
}