fix(multi_object_tracker): tune parameters for pedestrian tracker

[technolojin]

Description

Low performance of initial pedestrian detection was fixed. There was dependency of pedestrian direction, since the initial value of yaw is 0 and this initialization had too much impact.

1. Tuning parameters for pedestrian tracker (initial covariance matrix, process noise of turn rate), so that the initial tracking can have larger Kalman gain in the beginning.

• initial state covariance
  p0_stddev_x 1.0 -> 2.0 // positional standard deviation[m]
  p0_stddev_y 1.0 -> 2.0 // positional standard deviation[m]
  p0_stddev_yaw 1000 // yaw from the ground, not changed [deg]
  p0_stddev_vx 5 -> 120 // velocity standard deviation [km/h]
  p0_stddev_wz 10 -> 360 // turn rate standard deviation [deg/s]

• process noise
  q_stddev_wz 20 -> 30 // turn rate changes [deg/(s*s)]

2. Refactoring comments and line orders to align trackers

Tests performed

Tested on the planning_simulator.

• Original

psim-pedestrian-original.mp4

• Modified

psim-pedestrian-tuned.mp4

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Attention: 9 lines in your changes are missing coverage. Please review.

Comparison is base (9f1ae6d) 14.86% compared to head (32b9aff) 14.86%.
Report is 3 commits behind head on main.

Files	Patch %	Lines
...t_tracker/src/tracker/model/pedestrian_tracker.cpp	0.00%	6 Missing ⚠️
...ject_tracker/src/tracker/model/bicycle_tracker.cpp	0.00%	1 Missing ⚠️
..._tracker/src/tracker/model/big_vehicle_tracker.cpp	0.00%	1 Missing ⚠️
...acker/src/tracker/model/normal_vehicle_tracker.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff            @@
##             main    #6343    +/-   ##
========================================
  Coverage   14.86%   14.86%            
========================================
  Files        1845     1845            
  Lines      126697   126544   -153     
  Branches    37883    37820    -63     
========================================
- Hits        18830    18816    -14     
+ Misses      86702    86579   -123     
+ Partials    21165    21149    -16     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	14.87% <ø> (+<0.01%)	⬆️	Carriedforward from 4ff21d1

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[YoshiRi]

LGTM. Let's check evaluator results