feat: change iou param of multi object tracking (tier4#1267)

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
boyali · Sep 28, 2022 · 483490f · 483490f
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commit 483490f
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diff --git a/...onfig/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/...onfig/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
@@ -55,7 +55,7 @@
     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,  0.3,   0.2,   0.2,    0.2,      0.1,       0.1,     0.1,       #CAR
+          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

diff --git a/perception/multi_object_tracker/config/data_association_matrix.param.yaml b/perception/multi_object_tracker/config/data_association_matrix.param.yaml
@@ -55,7 +55,7 @@
     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,  0.3,   0.2,   0.2,    0.2,      0.1,       0.1,     0.1,       #CAR
+          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