made tracking more stable, added size limits for cluster + changed cluster assignment to hungarian

src/target_tracking/launch/target_tracking_launch.py

@@ -5,8 +5,8 @@ import math
 ################### user configure parameters for ros2 start ###################
 # Topics/Frames
 frame_id        = 'velodyne'
-topic_preprocessing_in  = 'velodyne_points'
-topic_preprocessing_out = 'filtered_points'
+topic_preprocessing_in  = 'filtered_points'
+topic_preprocessing_out = 'new_filtered'
 
 # Preprocessing
 x_min           = 0.0
@@ -17,10 +17,16 @@ tan_h_fov       = math.pi / 4 # ±45°
 tan_v_fov       = math.pi / 6 # ±30°
 
 # Clustering
-z_dim_scale     = 0.2
-cluster_tolerance   = 0.2
+z_dim_scale     = 0.1
+cluster_tolerance   = 0.3
 min_cluster_size    = 10
 max_cluster_size    = 1000
+min_width   = 0.0
+min_height  = 0.0
+min_length  = 0.0
+max_width   = 1.5
+max_height  = 2.5
+max_length  = 1.5
 
 ################### user configure parameters for ros2 end ##################### 
 
@@ -41,7 +47,13 @@ cloud_clustering_params = [
     {"z_dim_scale": z_dim_scale},
     {"cluster_tolerance": cluster_tolerance},
     {"min_cluster_size": min_cluster_size},
-    {"max_cluster_size": max_cluster_size}
+    {"max_cluster_size": max_cluster_size},
+    {"min_width": min_width},
+    {"min_height": min_height},
+    {"min_length": min_length},
+    {"max_width": max_width},
+    {"max_height": max_height},
+    {"max_length": max_length}
 ]
 
 def generate_launch_description():