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autoware_perception_rviz_plugin#

Purpose#

It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.

See Autoware.Auto design documentation for the original design philosophy. [1]

Input Types / Visualization Results#

DetectedObjects#

Input Types#

Name Type Description
autoware_perception_msgs::msg::DetectedObjects detection result array

Visualization Result#

detected-object-visualization-description

TrackedObjects#

Input Types#

Name Type Description
autoware_perception_msgs::msg::TrackedObjects tracking result array

Visualization Result#

Overwrite tracking results with detection results.

tracked-object-visualization-description

PredictedObjects#

Input Types#

Name Type Description
autoware_perception_msgs::msg::PredictedObjects prediction result array

Visualization Result#

Overwrite prediction results with tracking results.

predicted-object-visualization-description

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

Future extensions / Unimplemented parts#