refactor(autoware_multi_object_tracker): extract tracker parameters

Signed-off-by: jkoronczok <[email protected]>
autowarefoundation · Dec 11, 2024 · 59c08ef · 59c08ef
1 parent a8e7a8d
commit 59c08ef
Showing 1 changed file with 15 additions and 0 deletions.
diff --git a/...ion/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/...ion/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
@@ -15,6 +15,21 @@
     enable_delay_compensation: true
     consider_odometry_uncertainty: false
 
+    # tracker parameters
+    tracker_lifetime: 1.0  # [s]
+    min_known_object_removal_iou: 0.1  # [ratio]
+    min_unknown_object_removal_iou: 0.001  # [ratio]
+    distance_threshold: 5.0  # [m]
+    confident_count_threshold:
+      UNKNOWN: 3
+      CAR: 3
+      TRUCK: 3
+      BUS: 3
+      TRAILER: 3
+      MOTORBIKE: 3
+      BICYCLE: 3
+      PEDESTRIAN: 3
+
     # debug parameters
     publish_processing_time: true
     publish_tentative_objects: false