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feat(autoware_launch): add radar tracker parameter files and settings #470

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Jul 24, 2023
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feat(autoware_launch): add radar tracker parameter files and settings #470

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f9be0f7
add radar tracker parameter files and settings
YoshiRi Jul 21, 2023
026b1bc
style(pre-commit): autofix
pre-commit-ci[bot] Jul 21, 2023
8f49832
remove currently unused parameter
YoshiRi Jul 24, 2023
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66 changes: 66 additions & 0 deletions ...ption/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml
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/**:
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
9 changes: 9 additions & 0 deletions ...ig/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml
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/**:
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"
8 changes: 8 additions & 0 deletions autoware_launch/launch/components/tier4_perception_component.launch.xml
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Expand Up @@ -59,6 +59,14 @@
name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
/>
<arg
name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml"
/>
<arg
name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml"
/>

<!-- obstacle segmentation -->
<arg
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