Skip to content
This repository has been archived by the owner on Mar 27, 2023. It is now read-only.

Commit

Permalink
fix(multi_object_tracker): update data association matrix (#755)
Browse files Browse the repository at this point in the history 
* fix(multi_object_tracker): update data association matrix

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* updated parameter

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* 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 <yukky.saito@gmail.com>

---------

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
  • Loading branch information
@zulfaqar-azmi-t4 @yukkysaito
zulfaqar-azmi-t4 and yukkysaito authored Feb 6, 2023
1 parent 43b729c commit 513d038
Showing 1 changed file with 13 additions and 13 deletions.
26 changes: 13 additions & 13 deletions ...ption/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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

0 comments on commit 513d038

Please sign in to comment.