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feat(multi_object_tracker): increase max-area for truck and trailer (t…
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…ier4#1710)

* feat(multi_object_tracker): increase max-area for truck

Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

* feat: change truck and trailer max-area gate params

Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

* feat: change trailer params

Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>
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@yukke42 @boyali
yukke42 authored and boyali committed Oct 3, 2022
1 parent 42eb759 commit 0194f20
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Showing 2 changed files with 12 additions and 8 deletions.
10 changes: 6 additions & 4 deletions ...onfig/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
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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
[100.00, 100.00, 100.00, 100.00, 100.00, 100.00, 100.00, 100.00, #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
12.10, 12.10, 36.00, 40.00, 60.00, 10000.00, 10000.00, 10000.00, #CAR
36.00, 12.10, 36.00, 40.00, 60.00, 10000.00, 10000.00, 10000.00, #TRUCK
40.00, 12.10, 36.00, 40.00, 60.00, 10000.00, 10000.00, 10000.00, #BUS
60.00, 12.10, 36.00, 40.00, 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
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10 changes: 6 additions & 4 deletions perception/multi_object_tracker/config/data_association_matrix.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
12.10, 12.10, 36.00, 40.00, 60.00, 10000.00, 10000.00, 10000.00, #CAR
36.00, 12.10, 36.00, 40.00, 60.00, 10000.00, 10000.00, 10000.00, #TRUCK
40.00, 12.10, 36.00, 40.00, 60.00, 10000.00, 10000.00, 10000.00, #BUS
60.00, 12.10, 36.00, 40.00, 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
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