feat: change car size param in shape estimation (autowarefoundation#1709

) Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
tier4 · Dec 11, 2022 · 5522122 · 5522122
1 parent 94cdb2f
commit 5522122
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/perception/shape_estimation/include/shape_estimation/corrector/car_corrector.hpp b/perception/shape_estimation/include/shape_estimation/corrector/car_corrector.hpp
@@ -28,10 +28,10 @@ class CarCorrector : public ShapeEstimationCorrectorInterface
   explicit CarCorrector(bool use_reference_yaw = false) : use_reference_yaw_(use_reference_yaw)
   {
     params_.min_width = 1.2;
-    params_.max_width = 2.2;
+    params_.max_width = 2.5;
     params_.avg_width = (params_.min_width + params_.max_width) * 0.5;
     params_.min_length = 3.0;
-    params_.max_length = 5.0;
+    params_.max_length = 5.8;
     params_.avg_length = (params_.min_length + params_.max_length) * 0.5;
   }
 

diff --git a/perception/shape_estimation/lib/filter/car_filter.cpp b/perception/shape_estimation/lib/filter/car_filter.cpp
@@ -19,7 +19,7 @@ bool CarFilter::filter(
   [[maybe_unused]] const geometry_msgs::msg::Pose & pose)
 {
   constexpr float min_width = 1.2;
-  constexpr float max_width = 2.2;
-  constexpr float max_length = 5.0;
+  constexpr float max_width = 2.5;
+  constexpr float max_length = 5.8;
   return utils::filterVehicleBoundingBox(shape, min_width, max_width, max_length);
 }