feat(shape_estimation): fix truck filter max size is too small problem (

autowarefoundation#5650) fix truck size filtering Signed-off-by: yoshiri <[email protected]>
zulfaqar-azmi-t4 · Nov 27, 2023 · 9b42006 · 9b42006
1 parent 1eb962e
commit 9b42006
Show file tree

Hide file tree

Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/perception/shape_estimation/include/shape_estimation/corrector/truck_corrector.hpp b/perception/shape_estimation/include/shape_estimation/corrector/truck_corrector.hpp
@@ -26,11 +26,11 @@ class TruckCorrector : public VehicleCorrector
   {
     corrector_utils::CorrectionBBParameters params;
     params.min_width = 1.5;
-    params.max_width = 3.2;
+    params.max_width = 3.5;
     params.default_width = (params.min_width + params.max_width) * 0.5;
     params.min_length = 4.0;
-    params.max_length = 7.9;
-    params.default_length = (params.min_length + params.max_length) * 0.5;
+    params.max_length = 18.0;
+    params.default_length = 7.0;  // 7m is the most common length of a truck in Japan
     setParams(params);
   }
 

diff --git a/perception/shape_estimation/lib/filter/truck_filter.cpp b/perception/shape_estimation/lib/filter/truck_filter.cpp
@@ -19,7 +19,7 @@ bool TruckFilter::filter(
   [[maybe_unused]] const geometry_msgs::msg::Pose & pose)
 {
   constexpr float min_width = 1.5;
-  constexpr float max_width = 3.2;
-  constexpr float max_length = 7.9;  // upto 12m in japanese law
+  constexpr float max_width = 3.5;
+  constexpr float max_length = 18.0;  // upto 12m in japanese law
   return utils::filterVehicleBoundingBox(shape, min_width, max_width, max_length);
 }