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chore(multi_object_tracker): add associator_type parameter for all input channels #1819

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chore(multi_object_tracker): add associator_type parameter for all input channels #1819

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12 changes: 12 additions & 0 deletions ...fig/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,11 +3,13 @@
input_channels:
# Merged detected objects, i.e. "/perception/object_recognition/detection/objects"
detected_objects:
associator_type: bev
optional:
name: "detected_objects"
short_name: "all"
# LIDAR - rule-based
lidar_clustering:
associator_type: bev
flags:
can_spawn_new_tracker: true
can_trust_existence_probability: false
Expand All @@ -19,6 +21,7 @@
short_name: "Lcl"
# LIDAR - DNN
lidar_centerpoint:
associator_type: bev
flags:
can_spawn_new_tracker: true
can_trust_existence_probability: true
Expand All @@ -29,6 +32,7 @@
name: "centerpoint"
short_name: "Lcp"
lidar_centerpoint_short_range:
associator_type: bev
flags:
can_spawn_new_tracker: true
can_trust_existence_probability: true
Expand All @@ -39,6 +43,7 @@
name: "centerpoint_short_range"
short_name: "LcpS"
lidar_apollo:
associator_type: bev
flags:
can_spawn_new_tracker: true
can_trust_existence_probability: true
Expand All @@ -51,6 +56,7 @@
# LIDAR-CAMERA - DNN
# cspell:ignore lidar_pointpainting pointpainting
lidar_pointpainting:
associator_type: bev
flags:
can_spawn_new_tracker: true
can_trust_existence_probability: true
Expand All @@ -62,6 +68,7 @@
short_name: "Lpp"
# CAMERA - DNN
camera_streampetr:
associator_type: bev
flags:
can_spawn_new_tracker: true
can_trust_existence_probability: true
Expand All @@ -73,6 +80,7 @@
short_name: "Csp"
# CAMERA-LIDAR
camera_lidar_fusion:
associator_type: bev
flags:
can_spawn_new_tracker: true
can_trust_existence_probability: false
Expand All @@ -84,6 +92,7 @@
short_name: "CLf"
# CAMERA-LIDAR-IRREGULAR
camera_lidar_fusion_irregular:
associator_type: bev
flags:
can_spawn_new_tracker: true
can_trust_existence_probability: false
Expand All @@ -95,6 +104,7 @@
short_name: "Irreg"
# CAMERA-LIDAR+TRACKER
detection_by_tracker:
associator_type: bev
flags:
can_spawn_new_tracker: false
can_trust_existence_probability: false
Expand All @@ -106,6 +116,7 @@
short_name: "dbT"
# RADAR
radar:
associator_type: bev
flags:
can_spawn_new_tracker: true
can_trust_existence_probability: true
Expand All @@ -117,6 +128,7 @@
short_name: "Rad"
# CAMERA VRU
camera_vru:
associator_type: bev
flags:
can_spawn_new_tracker: true
can_trust_existence_probability: true
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1 change: 0 additions & 1 deletion ...ion/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,6 @@
enable_unknown_object_motion_output: false

# tracker parameters
tracker_lifetime: 1.0 # [s]
min_known_object_removal_iou: 0.1 # [ratio]
min_unknown_object_removal_iou: 0.001 # [ratio]

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