# File src/robmot/config/config.h
//
// RobMOT has its own visualization node on Rviz. To activate this node, make sure `activateVisualizationNode` is true. However, disable it in case of deployment to avoid unnecessary computation.
        constexpr static const bool  activateVisualizationNode              = true; 
        // Detection input topic in autoware format
        constexpr static const char* detectionTopic                         =  "/perception/object_recognition/detection/objects";
        // tracking topic to publish
        constexpr static const char* trackingTopic                          =  "/tracked_objects";
    };

    # File src/robmot/config/config.cpp
    // The maximum distance (in meters) to associate an estimation to a recent detection.
    float parameters::Autoware::getEclTh() const  { return 4.0f; } 
     // validation score threshold. If a track validation score exceeds this threshold, its status convert to 'validated'. (For ghost tracks identification) Please read T-ITS paper for more details about this one.
    float parameters::Autoware::getGhostRemTh() const  { return 40.0f; }

    # File src/robmot/src/object_detection_module/ObjectDetection.cpp

    //  This line responsible of displaying driving intention arrow. (Please check the second slide). Make sure the `Eigen::Vector2d dir` accepts forward and left/right axis.
    Eigen::Vector2d dir(object->_3dBoxLiDAR->stateEstimation(3), -object->_3dBoxLiDAR->stateEstimation(2));
    ...
    if (object->_3dBoxLiDAR->found) {
                if(speed < 0.5){ // threshold to detect stationary objects. (Check the second slide) 
                    marker.color.g = 0.0; marker.color.r = 0.0;marker.color.b = 1.0;
                }else{
                    marker.color.g = 1.0; marker.color.r = 0.0;
                }
            } else {
                marker.color.g = 1.0; marker.color.r = 1.0;
            }