fix: set minimum pedestrian size

Signed-off-by: Taekjin LEE <[email protected]>
technolojin · Mar 12, 2024 · d01e7b5 · d01e7b5
1 parent c497588
commit d01e7b5
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp
@@ -216,6 +216,13 @@ bool PedestrianTracker::measureWithShape(
     return false;
   }
 
+  // set minimum size
+  bounding_box_.length = std::max(bounding_box_.length, 0.3);
+  bounding_box_.width = std::max(bounding_box_.width, 0.3);
+  bounding_box_.height = std::max(bounding_box_.height, 0.8);
+  cylinder_.width = std::max(cylinder_.width, 0.3);
+  cylinder_.height = std::max(cylinder_.height, 0.8);
+
   return true;
 }