feat(object_lanelet_filter): update object_lanelet_filter parameter y…

…aml (#998) feat: update object_lanelet_filter parameter Signed-off-by: yoshiri <[email protected]>
autowarefoundation · May 28, 2024 · b6a858a · b6a858a
1 parent b2f5bac
commit b6a858a
Showing 1 changed file with 10 additions and 0 deletions.
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
@@ -9,3 +9,13 @@
       MOTORCYCLE : false
       BICYCLE : false
       PEDESTRIAN : false
+
+    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]