refactor(autoware_launch): add object_merger param files (#464)

init commit Signed-off-by: ismetatabay <[email protected]>
tier4 · Jul 20, 2023 · d406a49 · d406a49
1 parent e1da2bb
commit d406a49
Show file tree

Hide file tree

Showing 3 changed files with 57 additions and 0 deletions.
diff --git a/.../perception/object_recognition/detection/object_merger/data_association_matrix.param.yaml b/.../perception/object_recognition/detection/object_merger/data_association_matrix.param.yaml
@@ -0,0 +1,44 @@
+/**:
+  ros__parameters:
+    can_assign_matrix:
+      #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
+      [0,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
+       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,     4.0, 5.0,   5.0,  5.0,     2.0,       2.0,     2.0,       #UNKNOWN
+       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #CAR
+       5.0,     5.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRUCK
+       5.0,     5.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #BUS
+       5.0,     5.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRAILER
+       2.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     3.0,       #MOTORBIKE
+       2.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     3.0,       #BICYCLE
+       2.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0]       #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
+      [0.1,     0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #UNKNOWN
+       0.1,     0.3,   0.2,   0.2,    0.2,      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,     0.1]       #PEDESTRIAN
diff --git a/.../config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml b/.../config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    distance_threshold_list:
+      #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
+      [9.0,     9.0, 9.0,   9.0,  9.0,     9.0,       9.0,    9.0]         #UNKNOWN
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -47,6 +47,14 @@
       name="object_recognition_prediction_map_based_prediction_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/prediction/map_based_prediction.param.yaml"
     />
+    <arg
+      name="object_recognition_detection_object_merger_data_association_matrix_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/data_association_matrix.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_object_merger_distance_threshold_list_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml"
+    />
     <arg
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"