fix: adjust minimum sizes to 0.3 m

The minimum size is unified to a small number (0.3 m) to avoid side-effect of tracking.

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

Author: technolojin

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

@@ -141,9 +141,9 @@ 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);
 
   ekf_.init(X, P);
 
@@ -426,9 +426,9 @@ bool BicycleTracker::measureWithShape(
     bbox_object.shape.dimensions.x, bbox_object.shape.dimensions.y, bbox_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 lf, lr
   lf_ = std::max(bounding_box_.length * 0.3, 0.3);  // 30% front from the center, minimum of 0.3m

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

@@ -158,9 +158,9 @@ BigVehicleTracker::BigVehicleTracker(
   setNearestCornerOrSurfaceIndex(self_transform);  // this index is used in next measure step
 
   // 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 lf, lr
   lf_ = std::max(bounding_box_.length * 0.3, 1.5);   // 30% front from the center, minimum of 1.5m
@@ -461,9 +461,9 @@ bool BigVehicleTracker::measureWithShape(
     bbox_object.shape.dimensions.x, bbox_object.shape.dimensions.y, bbox_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 lf, lr
   lf_ = std::max(bounding_box_.length * 0.3, 1.5);   // 30% front from the center, minimum of 1.5m

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

@@ -158,9 +158,9 @@ NormalVehicleTracker::NormalVehicleTracker(
   setNearestCornerOrSurfaceIndex(self_transform);  // this index is used in next measure step
 
   // 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 lf, lr
   lf_ = std::max(bounding_box_.length * 0.3, 1.0);   // 30% front from the center, minimum of 1.0m
@@ -461,9 +461,9 @@ bool NormalVehicleTracker::measureWithShape(
     bbox_object.shape.dimensions.x, bbox_object.shape.dimensions.y, bbox_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 lf, lr
   lf_ = std::max(bounding_box_.length * 0.3, 1.0);   // 30% front from the center, minimum of 1.0m

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

@@ -146,9 +146,9 @@ 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);
 
   ekf_.init(X, P);
 }
@@ -327,9 +327,9 @@ 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;
 }