From 59c08ef2a02184fb7fdd622b1b06ee65069f7020 Mon Sep 17 00:00:00 2001 From: jkoronczok Date: Wed, 11 Dec 2024 11:48:10 +0100 Subject: [PATCH] refactor(autoware_multi_object_tracker): extract tracker parameters Signed-off-by: jkoronczok --- .../multi_object_tracker_node.param.yaml | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml index 5a272a67e0..fdab3a382a 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml +++ b/autoware_launch/config/perception/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