fix: adjust minimum sizes to 0.3m

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

Author: technolojin

perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp

@@ -69,9 +69,9 @@ BicycleTracker::BicycleTracker(
     bounding_box_ = {1.0, 0.5, 1.7};
   }
   // set minimum size
-  bounding_box_.length = std::max(bounding_box_.length, 0.5);
+  bounding_box_.length = std::max(bounding_box_.length, 0.3);
   bounding_box_.width = std::max(bounding_box_.width, 0.3);
-  bounding_box_.height = std::max(bounding_box_.height, 0.8);
+  bounding_box_.height = std::max(bounding_box_.height, 0.3);
 
   // Set motion model parameters
   {
@@ -236,9 +236,9 @@ bool BicycleTracker::measureWithShape(
   bounding_box_.width = gain_inv * bounding_box_.width + gain * object.shape.dimensions.y;
   bounding_box_.height = gain_inv * bounding_box_.height + gain * object.shape.dimensions.z;
   // set minimum size
-  bounding_box_.length = std::max(bounding_box_.length, 0.5);
+  bounding_box_.length = std::max(bounding_box_.length, 0.3);
   bounding_box_.width = std::max(bounding_box_.width, 0.3);
-  bounding_box_.height = std::max(bounding_box_.height, 0.8);
+  bounding_box_.height = std::max(bounding_box_.height, 0.3);
 
   // update motion model
   motion_model_.updateExtendedState(bounding_box_.length);

perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp

@@ -83,9 +83,9 @@ BigVehicleTracker::BigVehicleTracker(
     last_input_bounding_box_ = bounding_box_;
   }
   // set minimum size
-  bounding_box_.length = std::max(bounding_box_.length, 2.5);
-  bounding_box_.width = std::max(bounding_box_.width, 1.0);
-  bounding_box_.height = std::max(bounding_box_.height, 1.0);
+  bounding_box_.length = std::max(bounding_box_.length, 0.3);
+  bounding_box_.width = std::max(bounding_box_.width, 0.3);
+  bounding_box_.height = std::max(bounding_box_.height, 0.3);
 
   // Set motion model parameters
   {
@@ -313,9 +313,9 @@ bool BigVehicleTracker::measureWithShape(
   last_input_bounding_box_ = {
     object.shape.dimensions.x, object.shape.dimensions.y, object.shape.dimensions.z};
   // set minimum size
-  bounding_box_.length = std::max(bounding_box_.length, 2.5);
-  bounding_box_.width = std::max(bounding_box_.width, 1.0);
-  bounding_box_.height = std::max(bounding_box_.height, 1.0);
+  bounding_box_.length = std::max(bounding_box_.length, 0.3);
+  bounding_box_.width = std::max(bounding_box_.width, 0.3);
+  bounding_box_.height = std::max(bounding_box_.height, 0.3);
 
   // update motion model
   motion_model_.updateExtendedState(bounding_box_.length);

perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp

@@ -83,9 +83,9 @@ NormalVehicleTracker::NormalVehicleTracker(
     last_input_bounding_box_ = bounding_box_;
   }
   // set minimum size
-  bounding_box_.length = std::max(bounding_box_.length, 1.5);
-  bounding_box_.width = std::max(bounding_box_.width, 0.5);
-  bounding_box_.height = std::max(bounding_box_.height, 1.0);
+  bounding_box_.length = std::max(bounding_box_.length, 0.3);
+  bounding_box_.width = std::max(bounding_box_.width, 0.3);
+  bounding_box_.height = std::max(bounding_box_.height, 0.3);
 
   // Set motion model parameters
   {
@@ -313,9 +313,9 @@ bool NormalVehicleTracker::measureWithShape(
   last_input_bounding_box_ = {
     object.shape.dimensions.x, object.shape.dimensions.y, object.shape.dimensions.z};
   // set minimum size
-  bounding_box_.length = std::max(bounding_box_.length, 1.5);
-  bounding_box_.width = std::max(bounding_box_.width, 0.5);
-  bounding_box_.height = std::max(bounding_box_.height, 1.0);
+  bounding_box_.length = std::max(bounding_box_.length, 0.3);
+  bounding_box_.width = std::max(bounding_box_.width, 0.3);
+  bounding_box_.height = std::max(bounding_box_.height, 0.3);
 
   // update motion model
   motion_model_.updateExtendedState(bounding_box_.length);

perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp

@@ -73,9 +73,9 @@ PedestrianTracker::PedestrianTracker(
   // set minimum size
   bounding_box_.length = std::max(bounding_box_.length, 0.3);
   bounding_box_.width = std::max(bounding_box_.width, 0.3);
-  bounding_box_.height = std::max(bounding_box_.height, 0.8);
+  bounding_box_.height = std::max(bounding_box_.height, 0.3);
   cylinder_.width = std::max(cylinder_.width, 0.3);
-  cylinder_.height = std::max(cylinder_.height, 0.8);
+  cylinder_.height = std::max(cylinder_.height, 0.3);
 
   // Set motion model parameters
   {
@@ -219,9 +219,9 @@ bool PedestrianTracker::measureWithShape(
   // set minimum size
   bounding_box_.length = std::max(bounding_box_.length, 0.3);
   bounding_box_.width = std::max(bounding_box_.width, 0.3);
-  bounding_box_.height = std::max(bounding_box_.height, 0.8);
+  bounding_box_.height = std::max(bounding_box_.height, 0.3);
   cylinder_.width = std::max(cylinder_.width, 0.3);
-  cylinder_.height = std::max(cylinder_.height, 0.8);
+  cylinder_.height = std::max(cylinder_.height, 0.3);
 
   return true;
 }