From 513d0388913cb7627445d31a95eff6f13e797490 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon, 6 Feb 2023 22:56:47 +0900 Subject: [PATCH] fix(multi_object_tracker): update data association matrix (#755) * fix(multi_object_tracker): update data association matrix Signed-off-by: Muhammad Zulfaqar Azmi * updated parameter Signed-off-by: Muhammad Zulfaqar Azmi * Update autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml also update for CAR->other objects Co-authored-by: Yukihiro Saito --------- Signed-off-by: Muhammad Zulfaqar Azmi Co-authored-by: Yukihiro Saito --- .../data_association_matrix.param.yaml | 26 +++++++++---------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml index 2541ab0367..69af202e7a 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml @@ -14,10 +14,10 @@ max_dist_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN [4.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, #UNKNOWN - 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #CAR - 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRUCK - 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #BUS - 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRAILER + 4.0, 2.5, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #CAR + 4.0, 2.5, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRUCK + 4.0, 2.5, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #BUS + 4.0, 2.5, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRAILER 3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, #MOTORBIKE 3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, #BICYCLE 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0] #PEDESTRIAN @@ -55,12 +55,12 @@ 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #PEDESTRIAN min_iou_matrix: # If value is negative, it will be ignored. - #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN - [0.0001, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN - 0.1, 0.1, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, #CAR - 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRUCK - 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #BUS - 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRAILER - 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #MOTORBIKE - 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE - 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.0001] #PEDESTRIAN + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [0.0001, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN + 0.1, 0.1, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, #CAR + 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRUCK + 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #BUS + 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRAILER + 0.1, 0.1, 0.1, 0.1, 0.1, -1.0, 0.1, 0.1, #MOTORBIKE + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.0001] #PEDESTRIAN