From f9be0f7910732e8ad17a0351618855a1eb108269 Mon Sep 17 00:00:00 2001 From: yoshiri Date: Fri, 21 Jul 2023 21:21:08 +0900 Subject: [PATCH 1/3] add radar tracker parameter files and settings Signed-off-by: yoshiri --- .../data_association_matrix.param.yaml | 66 +++++++++++++++++++ .../default_tracker.param.yaml | 9 +++ .../tracking/linear_motion_tracker.yaml | 32 +++++++++ .../tier4_perception_component.launch.xml | 9 +++ 4 files changed, 116 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml create mode 100644 autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml create mode 100644 autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml new file mode 100644 index 0000000000..104d790d18 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml @@ -0,0 +1,66 @@ +/**: + ros__parameters: + can_assign_matrix: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN <-Measurement + [1, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN <-Tracker + 0, 1, 1, 1, 1, 0, 0, 0, #CAR + 0, 1, 1, 1, 1, 0, 0, 0, #TRUCK + 0, 1, 1, 1, 1, 0, 0, 0, #BUS + 0, 1, 1, 1, 1, 0, 0, 0, #TRAILER + 0, 0, 0, 0, 0, 1, 1, 1, #MOTORBIKE + 0, 0, 0, 0, 0, 1, 1, 1, #BICYCLE + 0, 0, 0, 0, 0, 1, 1, 1] #PEDESTRIAN + + 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, 4.0, 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 + 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 + max_area_matrix: + # NOTE: The size of truck is 12 m length x 3 m width. + # NOTE: The size of trailer is 20 m length x 3 m width. + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [100.00, 100.00, 100.00, 100.00, 100.00, 100.00, 100.00, 100.00, #UNKNOWN + 12.10, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #CAR + 36.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #TRUCK + 60.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #BUS + 60.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #TRAILER + 2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, #MOTORBIKE + 2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, #BICYCLE + 2.00, 10000.00, 10000.00, 10000.00, 10000.00, 1.50, 1.50, 1.00] #PEDESTRIAN + min_area_matrix: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN + 3.600, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #CAR + 6.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #TRUCK + 10.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #BUS + 10.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #TRAILER + 0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100, #MOTORBIKE + 0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100, #BICYCLE + 0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100] #PEDESTRIAN + max_rad_matrix: # If value is greater than pi, it will be ignored. + #UNKNOWN, CAR, TRUCK, BUS, TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN + [3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #UNKNOWN + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #CAR + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRUCK + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #BUS + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRAILER + 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, #BICYCLE + 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 diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml new file mode 100644 index 0000000000..757125202d --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + car_tracker: "linear_motion_tracker" + truck_tracker: "linear_motion_tracker" + bus_tracker: "linear_motion_tracker" + trailer_tracker: "linear_motion_tracker" + pedestrian_tracker: "linear_motion_tracker" + bicycle_tracker: "linear_motion_tracker" + motorcycle_tracker: "linear_motion_tracker" diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml new file mode 100644 index 0000000000..71367f4575 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml @@ -0,0 +1,32 @@ +default: + # This file defines the parameters for the linear motion tracker. + # All this parameter coordinate is assumed to be in the vehicle coordinate system. + # So, the x axis is pointing to the front of the vehicle, y axis is pointing to the left of the vehicle. + ekf_params: + # random walk noise is used to model the acceleration noise + process_noise_std: # [m/s^2] + ax: 0.98 # assume 0.1G acceleration noise + ay: 0.98 + vx: 0.1 # assume 0.1m/s velocity noise + vy: 0.1 + x: 1.0 # assume 1m position noise + y: 1.0 + measurement_noise_std: + x: 0.6 # [m] + y: 0.9 # [m] + vx: 0.4 # [m/s] + vy: 1 # [m/s] + initial_covariance_std: + x: 3.0 # [m] + y: 6.0 # [m] + vx: 1.0 # [m/s] + vy: 5.0 # [m/s] + ax: 0.5 # [m/s^2] + ay: 1.0 # [m/s^2] + # output limitation + limit: + max_speed: 80.0 # [m/s] + # low pass filter is used to smooth the yaw and shape estimation + low_pass_filter: + time_constant: 1.0 # [s] + sampling_time: 0.1 # [s] diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index f08de01837..1506aa4339 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -59,6 +59,15 @@ name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml" /> + + + Date: Fri, 21 Jul 2023 12:32:07 +0000 Subject: [PATCH 2/3] style(pre-commit): autofix --- .../launch/components/tier4_perception_component.launch.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 1506aa4339..73dcd49b87 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -68,7 +68,6 @@ value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml" /> - Date: Mon, 24 Jul 2023 19:34:55 +0900 Subject: [PATCH 3/3] remove currently unused parameter --- .../tracking/linear_motion_tracker.yaml | 32 ------------------- 1 file changed, 32 deletions(-) delete mode 100644 autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml deleted file mode 100644 index 71367f4575..0000000000 --- a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml +++ /dev/null @@ -1,32 +0,0 @@ -default: - # This file defines the parameters for the linear motion tracker. - # All this parameter coordinate is assumed to be in the vehicle coordinate system. - # So, the x axis is pointing to the front of the vehicle, y axis is pointing to the left of the vehicle. - ekf_params: - # random walk noise is used to model the acceleration noise - process_noise_std: # [m/s^2] - ax: 0.98 # assume 0.1G acceleration noise - ay: 0.98 - vx: 0.1 # assume 0.1m/s velocity noise - vy: 0.1 - x: 1.0 # assume 1m position noise - y: 1.0 - measurement_noise_std: - x: 0.6 # [m] - y: 0.9 # [m] - vx: 0.4 # [m/s] - vy: 1 # [m/s] - initial_covariance_std: - x: 3.0 # [m] - y: 6.0 # [m] - vx: 1.0 # [m/s] - vy: 5.0 # [m/s] - ax: 0.5 # [m/s^2] - ay: 1.0 # [m/s^2] - # output limitation - limit: - max_speed: 80.0 # [m/s] - # low pass filter is used to smooth the yaw and shape estimation - low_pass_filter: - time_constant: 1.0 # [s] - sampling_time: 0.1 # [s]