fix: use mahalanobis distance gate with larger threshold

technolojin · technolojin · commit eda2b3c049f5 · 2024-01-23T16:36:13.000+09:00
Signed-off-by: Taekjin LEE &lt;taekjin.lee@tier4.jp&gt;
diff --git a/perception/multi_object_tracker/src/data_association/data_association.cpp b/perception/multi_object_tracker/src/data_association/data_association.cpp
@@ -201,7 +201,7 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
             measurement_object.kinematics.pose_with_covariance.pose.position,
             tracked_object.kinematics.pose_with_covariance.pose.position,
             getXYCovariance(tracked_object.kinematics.pose_with_covariance));
-          if (2.448 /*95%*/ <= mahalanobis_dist) passed_gate = true;  // gate disabled
+          if (3.035 /*99%*/ <= mahalanobis_dist) passed_gate = false;
         }
         // 2d iou gate
         if (passed_gate) {

Original file line number	Diff line number	Diff line change
`@@ -201,7 +201,7 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(`
`201`	`201`	`measurement_object.kinematics.pose_with_covariance.pose.position,`
`202`	`202`	`tracked_object.kinematics.pose_with_covariance.pose.position,`
`203`	`203`	`getXYCovariance(tracked_object.kinematics.pose_with_covariance));`
`204`		`- if (2.448 /95%/ <= mahalanobis_dist) passed_gate = true; // gate disabled`
	`204`	`+ if (3.035 /99%/ <= mahalanobis_dist) passed_gate = false;`
`205`	`205`	`}`
`206`	`206`	`// 2d iou gate`
`207`	`207`	`if (passed_gate) {`