From e0d419848c0bf7029222867a4d2e374ed1f9c175 Mon Sep 17 00:00:00 2001 From: Yukihiro Saito Date: Fri, 11 Mar 2022 00:22:35 +0900 Subject: [PATCH] feat: add iou gate (#237) Signed-off-by: Yukihiro Saito --- .../data_association_matrix.param.yaml | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml index 393bb949d048d..385eb335c3879 100644 --- a/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml +++ b/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml @@ -50,3 +50,13 @@ 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #PEDESTRIAN 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #ANIMAL + min_iou_matrix: + #UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL + [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN + 0.1, 0.3, 0.2, 0.2, 0.1, 0.1, 0.1, 0.1, #CAR + 0.1, 0.2, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, #TRUCK + 0.1, 0.2, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, #BUS + 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, 0.1, #MOTORBIKE + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #PEDESTRIAN + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] #ANIMAL