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low_intensity_cluster_filter#

Purpose#

The low_intensity_cluster_filter is a node that filters clusters based on the intensity of their pointcloud.

Mainly this focuses on filtering out unknown objects with very low intensity pointcloud, such as fail detection of unknown objects caused by raindrop or water splash from ego or other fast moving vehicles.

Inner-workings / Algorithms#

Inputs / Outputs#

Input#

Name Type Description
input/object tier4_perception_msgs::msg::DetectedObjectsWithFeature input detected objects

Output#

Name Type Description
output/object tier4_perception_msgs::msg::DetectedObjectsWithFeature filtered detected objects

Parameters#

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.
max_x float 60.00 Maximum of x of the filter effective range
min_x float -20.00 Minimum of x of the filter effective range
max_y float 20.00 Maximum of y of the filter effective range
min_y float -20.00 Minium of y of the filter effective range
intensity_threshold float 1.0 The threshold of average intensity for filter
existence_probability_threshold float 0.2 The existence probability threshold to apply the filter

Assumptions / Known limits#

(Optional) Error detection and handling#

(Optional) Performance characterization#

(Optional) Future extensions / Unimplemented parts#