From b6a858a924829d8127f3dc3c1f3b93f21cfb2406 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 28 May 2024 12:27:17 +0900 Subject: [PATCH] feat(object_lanelet_filter): update object_lanelet_filter parameter yaml (#998) feat: update object_lanelet_filter parameter Signed-off-by: yoshiri --- .../object_filter/object_lanelet_filter.param.yaml | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml index dfdee95642..99050d9738 100644 --- a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml +++ b/autoware_launch/config/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]