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‎perception/autoware_radar_object_tracker/README.md

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Default settings for each tracker are defined in the [./config/tracking/](./config/tracking/), and described in [models.md](models.md).
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{{ json_to_markdown("perception/autoware_radar_object_tracker/schema/data-association_matrix.schema.json") }}
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{{ json_to_markdown("perception/autoware_radar_object_tracker/schema/default_tracker.schema.json") }}
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{{ json_to_markdown("perception/autoware_radar_object_tracker/schema/simulation_tracker.schema.json") }}
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## Assumptions / Known limits
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<!-- In the future, you can add assumptions and known limitations of this package. -->

‎perception/autoware_radar_object_tracker/schema/data_association_matrix.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "autoware_radar_object_tracker parameter",
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"type": "object",
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"definitions": {
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"autoware_radar_object_tracker parameter": {
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"type": "object",
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"properties": {
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"can_assign_matrix": {
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"type": "array",
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"description": "An array of doubles used in the data association.",
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"default": [
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[1, 0, 0, 0, 0, 0, 0, 0],
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[0, 1, 1, 1, 1, 0, 0, 0],
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[0, 1, 1, 1, 1, 0, 0, 0],
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[0, 1, 1, 1, 1, 0, 0, 0],
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[0, 1, 1, 1, 1, 0, 0, 0],
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[0, 0, 0, 0, 0, 1, 1, 1],
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[0, 0, 0, 0, 0, 1, 1, 1],
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[0, 0, 0, 0, 0, 1, 1, 1]
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]
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},
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"max_dist_matrix": {
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"type": "array",
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"description": "An array of doubles used in the data association.",
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"default": [
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[4.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0],
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[4.0, 8.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0],
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[4.0, 6.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0],
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[4.0, 6.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0],
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[4.0, 6.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0],
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[3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0],
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[3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0],
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[2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0]
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]
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},
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"max_area_matrix": {
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"type": "array",
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"description": "An array of doubles used in the data association.",
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[100.00, 100.00, 100.00, 100.00, 100.00, 100.00, 100.00, 100.00],
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[12.10, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00],
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[36.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00],
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[60.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00],
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[60.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00],
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[2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00],
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[2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00],
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[2.00, 10000.00, 10000.00, 10000.00, 10000.00, 1.50, 1.50, 1.00]
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]
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},
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"min_area_matrix": {
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"type": "array",
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"description": "An array of doubles used in the data association.",
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"default": [
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[0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000],
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[3.600, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000],
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[6.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000],
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[10.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000],
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[10.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000],
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[0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100],
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[0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100],
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[0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100]
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]
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},
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"max_rad_matrix": {
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"type": "array",
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"description": "An array of doubles used in the data association.",
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"default": [
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[3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150],
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[3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150],
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[3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150],
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[3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150],
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[3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150],
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[3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150],
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[3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150],
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[3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150]
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]
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},
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"min_iou_matrix": {
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"type": "array",
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"description": "An array of doubles used in the data association.",
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"default": [
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[0.0001, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
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[0.1, -0.1, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1],
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[0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1],
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[0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1],
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[0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1],
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[0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
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[0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
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[0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.0001]
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]
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}
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "autoware_radar_object_tracker parameter",
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"type": "object",
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"autoware_radar_object_tracker parameter": {
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[0, 0, 0, 0, 0, 1, 1, 1],
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[0, 0, 0, 0, 0, 1, 1, 1],
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[0, 0, 0, 0, 0, 1, 1, 1]
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]
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},
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"required": [
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"can_assign_matrix",
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"max_dist_matrix",
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"max_area_matrix",
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"min_area_matrix",
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"max_rad_matrix",
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"min_iou_matrix"
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],
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"additionalProperties": false
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/autoware_radar_object_tracker parameter"
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[4.0, 8.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0],
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[4.0, 6.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0],
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[4.0, 6.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0],
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[4.0, 6.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0],
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[3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0],
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[3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0],
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[2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0]
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},
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"required": ["/**"],
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"max_area_matrix": {
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"type": "array",
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"description": "An array of doubles used in the data association.",
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"default": [
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[100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0],
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[12.1, 12.1, 36.0, 60.0, 60.0, 10000.0, 10000.0, 10000.0],
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[36.0, 12.1, 36.0, 60.0, 60.0, 10000.0, 10000.0, 10000.0],
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[60.0, 12.1, 36.0, 60.0, 60.0, 10000.0, 10000.0, 10000.0],
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[60.0, 12.1, 36.0, 60.0, 60.0, 10000.0, 10000.0, 10000.0],
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[2.5, 10000.0, 10000.0, 10000.0, 10000.0, 2.5, 2.5, 1.0],
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[2.5, 10000.0, 10000.0, 10000.0, 10000.0, 2.5, 2.5, 1.0],
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[2.0, 10000.0, 10000.0, 10000.0, 10000.0, 1.5, 1.5, 1.0]
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},
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"min_area_matrix": {
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"type": "array",
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"description": "An array of doubles used in the data association.",
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"default": [
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[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
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[3.6, 3.6, 6.0, 10.0, 10.0, 0.0, 0.0, 0.0],
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[6.0, 3.6, 6.0, 10.0, 10.0, 0.0, 0.0, 0.0],
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[10.0, 3.6, 6.0, 10.0, 10.0, 0.0, 0.0, 0.0],
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[10.0, 3.6, 6.0, 10.0, 10.0, 0.0, 0.0, 0.0],
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[0.001, 0.0, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1],
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[0.001, 0.0, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1],
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[0.001, 0.0, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1]
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[3.15, 1.047, 1.047, 1.047, 1.047, 3.15, 3.15, 3.15],
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[3.15, 1.047, 1.047, 1.047, 1.047, 3.15, 3.15, 3.15],
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[3.15, 1.047, 1.047, 1.047, 1.047, 3.15, 3.15, 3.15],
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[3.15, 1.047, 1.047, 1.047, 1.047, 3.15, 3.15, 3.15],
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[3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15],
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[3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15],
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[3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15]
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[0.1, -0.1, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1],
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[0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1],
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[0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
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[0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.0001]
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]
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}
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},
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"$ref": "#/definitions/autoware_radar_object_tracker parameter"
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}

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