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detected_object_validation#

Purpose#

The purpose of this package is to eliminate obvious false positives of DetectedObjects.

Node Parameters#

object_lanelet_filter#

Name Type Description Default Range
filter_target_label.UNKNOWN boolean If true, unknown objects are filtered. 1 N/A
filter_target_label.CAR boolean If true, car objects are filtered. 0 N/A
filter_target_label.TRUCK boolean If true, truck objects are filtered. 0 N/A
filter_target_label.BUS boolean If true, bus objects are filtered. 0 N/A
filter_target_label.TRAILER boolean If true, trailer objects are filtered. 0 N/A
filter_target_label.MOTORCYCLE boolean If true, motorcycle objects are filtered. 0 N/A
filter_target_label.BICYCLE boolean If true, bicycle objects are filtered. 0 N/A
filter_target_label.PEDESTRIAN boolean If true, pedestrian objects are filtered. 0 N/A
polygon_overlap_filter.enabled boolean If true, objects that are not in the lanelet polygon are filtered. 1 N/A
lanelet_direction_filter.enabled boolean If true, objects that are not in the same direction as the lanelet are filtered. 0 N/A
lanelet_direction_filter.velocity_yaw_threshold float If the yaw difference between the object and the lanelet is greater than this value, the object is filtered. 0.785398 N/A
lanelet_direction_filter.object_speed_threshold float If the object speed is greater than this value, the object is filtered. 3 N/A

object_position_filter#

Name Type Description Default Range
filter_target_label.UNKNOWN boolean Filter for UNKNOWN label 1 N/A
filter_target_label.CAR boolean Filter for CAR label 0 N/A
filter_target_label.TRUCK boolean Filter for TRUCK label 0 N/A
filter_target_label.BUS boolean Filter for BUS label 0 N/A
filter_target_label.TRAILER boolean Filter for TRAILER label 0 N/A
filter_target_label.MOTORCYCLE boolean Filter for MOTORCYCLE label 0 N/A
filter_target_label.BICYCLE boolean Filter for BICYCLE label 0 N/A
filter_target_label.PEDESTRIAN boolean Filter for PEDESTRIAN label 0 N/A
upper_bound_x float Upper bound for X coordinate 100 N/A
lower_bound_x float Lower bound for X coordinate 0 N/A
upper_bound_y float Upper bound for Y coordinate 10 N/A
lower_bound_y float Lower bound for Y coordinate -10 N/A

obstacle_pointcloud_based_validator#

Name Type Description Default Range
min_points_num array The minimum number of obstacle point clouds in DetectedObjects [10, 10, 10, 10, 10, 10, 10, 10] N/A
max_points_num array The max number of obstacle point clouds in DetectedObjects [10, 10, 10, 10, 10, 10, 10, 10] N/A
min_points_and_distance_ratio array Threshold value of the number of point clouds per object when the distance from baselink is 1m, because the number of point clouds varies with the distance from baselink. [800, 800, 800, 800, 800, 800, 800, 800] N/A
using_2d_validator boolean The xy-plane projected (2D) obstacle point clouds will be used for validation False N/A
enable_debugger boolean Whether to create debug topics or not? False N/A

occupancy_grid_based_validator#

Name Type Description Default Range
mean_threshold float The percentage threshold of allowed non-freespace. 0.6 N/A
enable_debug boolean Whether to display debug images or not? 0 N/A