Merge pull request autowarefoundation#420 from tier4/sync-awf-latest

chore: sync awf-latest
Kazunori-Nakajima · May 28, 2024 · bde7109 · bde7109
2 parents 8e7eb41 + b6a858a
commit bde7109
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/...ig/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml b/...ig/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
@@ -9,3 +9,13 @@
       MOTORCYCLE : false
       BICYCLE : false
       PEDESTRIAN : false
+
+    filter_settings:
+      # polygon overlap based filter
+      polygon_overlap_filter:
+       enabled: true
+      # velocity direction based filter
+      lanelet_direction_filter:
+        enabled: false
+        velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
+        object_speed_threshold: 3.0 # [m/s]