Merge pull request #522 from tier4/fix/radar_lanelet_filter_parameter

fix(object_lanelet_filter): radar object lanelet filter parameter upd…
tier4 · Aug 2, 2024 · 8e5b8a0 · 8e5b8a0
2 parents feaa649 + cccf5df
commit 8e5b8a0
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Showing 2 changed files with 11 additions and 1 deletion.
diff --git a/...ig/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml b/...ig/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
@@ -13,7 +13,7 @@
     filter_settings:
       # polygon overlap based filter
       polygon_overlap_filter:
-       enabled: true
+        enabled: true
       # velocity direction based filter
       lanelet_direction_filter:
         enabled: false

diff --git a/...fig/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml b/...fig/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
@@ -9,3 +9,13 @@
       MOTORCYCLE : true
       BICYCLE : true
       PEDESTRIAN : true
+
+    filter_settings:
+      # polygon overlap based filter
+      polygon_overlap_filter:
+        enabled: true
+      # velocity direction based filter
+      lanelet_direction_filter:
+        enabled: false
+        velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
+        object_speed_threshold: 3.0 # [m/s]