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Copy file name to clipboardexpand all lines: perception/autoware_radar_object_clustering/README.md
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### Parameter
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-`angle_threshold` (double) [rad]
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- Default parameter is 0.174.
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-`distance_threshold` (double) [m]
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- Default parameter is 4.0.
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-`velocity_threshold` (double) [m/s]
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- Default parameter is 2.0.
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These parameter are thresholds for angle, distance, and velocity to judge whether radar detections come from one object in "clustering" processing, which is written in detail at algorithm section.
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If all of the difference in angle/distance/velocity from two objects is less than the thresholds, then the two objects are merged to one clustered object.
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If these parameter is larger, more objects are merged to one clustered object.
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These are used in `isSameObject` function as below.
"description": "Threshold for angle to determine whether radar detections come from one object during clustering. Larger values merge more objects.",
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"default": 0.174
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},
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"distance_threshold": {
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"type": "number",
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"description": "Threshold for distance to determine whether radar detections come from one object during clustering. Larger values merge more objects.",
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"default": 4.0
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},
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"velocity_threshold": {
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"type": "number",
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"description": "Threshold for velocity to determine whether radar detections come from one object during clustering. Larger values merge more objects.",
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"default": 2.0
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},
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"is_fixed_label": {
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"type": "boolean",
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"description": "Flag to use a fixed label. If true, the label of a clustered object is overwritten by the `fixed_label` parameter.",
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"default": false
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},
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"fixed_label": {
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"type": "string",
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"description": "The fixed label to use when `is_fixed_label` is true.",
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"default": "UNKNOWN"
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},
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"is_fixed_size": {
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"type": "boolean",
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"description": "Flag to use fixed size parameters. If true, the size of a clustered object is overwritten by the `size_x`, `size_y`, and `size_z` parameters.",
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"default": false
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},
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"size_x": {
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"type": "number",
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"description": "Size of the clustered object in the x-dimension, used if `is_fixed_size` is true.",
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"default": 4.0
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},
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"size_y": {
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"type": "number",
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"description": "Size of the clustered object in the y-dimension, used if `is_fixed_size` is true.",
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"default": 1.5
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},
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"size_z": {
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"type": "number",
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"description": "Size of the clustered object in the z-dimension, used if `is_fixed_size` is true.",
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