object_lanelet_filter

Purpose

The object_lanelet_filter is a node that filters detected object by using vector map. The objects only inside of the vector map will be published.

Inner-workings / Algorithms

Inputs / Outputs

Input

Name	Type	Description
input/vector_map	autoware_map_msgs::msg::LaneletMapBin	vector map
input/object	autoware_perception_msgs::msg::DetectedObjects	input detected objects

Output

Name	Type	Description
output/object	autoware_perception_msgs::msg::DetectedObjects	filtered detected objects

Parameters

Name	Type	Description
debug	bool	if true, publish debug markers
lanelet_extra_margin	double	if > 0 lanelet polygons are expanded by extra margin, if <= 0 margin is disabled

Core Parameters

Name	Type	Default Value	Description
filter_target_label.UNKNOWN	bool	false	If true, unknown objects are filtered.
filter_target_label.CAR	bool	false	If true, car objects are filtered.
filter_target_label.TRUCK	bool	false	If true, truck objects are filtered.
filter_target_label.BUS	bool	false	If true, bus objects are filtered.
filter_target_label.TRAILER	bool	false	If true, trailer objects are filtered.
filter_target_label.MOTORCYCLE	bool	false	If true, motorcycle objects are filtered.
filter_target_label.BICYCLE	bool	false	If true, bicycle objects are filtered.
filter_target_label.PEDESTRIAN	bool	false	If true, pedestrian objects are filtered.

Assumptions / Known limits

The lanelet filter is performed based on the shape polygon and bounding box of the objects.

(Optional) Error detection and handling

(Optional) Performance characterization

(Optional) References/External links

(Optional) Future extensions / Unimplemented parts