Skip to content

Autoware Universe Documentation

perception_utils

Autoware Universe Documentation

Common
Common
- Introduction
- Testing Libraries
  Testing Libraries
- Common Libraries
  Common Libraries
  - autoware_auto_common
    autoware_auto_common
    
    comparisons
  - autoware_grid_map_utils
  - autoware_point_types
  - Geography Utils
  - Global Parameter Loader
  - Glog Component
  - interpolation
  - Kalman Filter
  - Motion Utils
  - Vehicle Utils
  - Object Recognition Utils
  - OSQP Interface
  - QP Interface
  - Signal Processing
    Signal Processing
    
    Introduction
    
    Butterworth Filter
  - autoware_traffic_light_utils
  - autoware_universe_utils
- RVIZ2 Plugins
  RVIZ2 Plugins
- Node
  Node
  - Goal Distance Calculator
  - Path Distance Calculator
- Others
  Others
Control
Control
- Autoware autonomous emergency braking
  Autoware autonomous emergency braking
- Autoware collision detector
  Autoware collision detector
- Autoware control validator
  Autoware control validator
- Autoware external cmd selector
  Autoware external cmd selector
- Autoware joy controller
  Autoware joy controller
- Autoware lane departure checker
  Autoware lane departure checker
- Autoware mpc lateral controller
  Autoware mpc lateral controller
  - MPC Algorithm
- Autoware obstacle collision checker
  Autoware obstacle collision checker
- Autoware operation mode transition manager
  Autoware operation mode transition manager
- Autoware pid longitudinal controller
  Autoware pid longitudinal controller
- Autoware pure pursuit
  Autoware pure pursuit
- Autoware shift decider
  Autoware shift decider
- Autoware smart mpc trajectory follower
  Autoware smart mpc trajectory follower
- Autoware trajectory follower base
  Autoware trajectory follower base
- Autoware trajectory follower node
  Autoware trajectory follower node
  - Design
    Design
    
    Simple Trajectory Follower
- Autoware vehicle cmd gate
  Autoware vehicle cmd gate
- Control performance analysis
  Control performance analysis
- Predicted path checker
  Predicted path checker
Evaluator
Evaluator
- Autoware control evaluator
  Autoware control evaluator
- Autoware planning evaluator
  Autoware planning evaluator
- Kinematic evaluator
  Kinematic evaluator
- Localization evaluator
  Localization evaluator
- Perception online evaluator
  Perception online evaluator
- Scenario simulator v2 adapter
  Scenario simulator v2 adapter
Launch
Launch
- Tier4 autoware api launch
  Tier4 autoware api launch
- Tier4 control launch
  Tier4 control launch
- Tier4 localization launch
  Tier4 localization launch
- Tier4 map launch
  Tier4 map launch
- Tier4 perception launch
  Tier4 perception launch
- Tier4 planning launch
  Tier4 planning launch
- Tier4 sensing launch
  Tier4 sensing launch
- Tier4 simulator launch
  Tier4 simulator launch
- Tier4 system launch
  Tier4 system launch
- Tier4 vehicle launch
  Tier4 vehicle launch
Localization
Localization
- Autoware ekf localizer
  Autoware ekf localizer
- Autoware geo pose projector
  Autoware geo pose projector
- Autoware gyro odometer
  Autoware gyro odometer
- Autoware landmark based localizer
  Autoware landmark based localizer
  - Autoware ar tag based localizer
    
    Autoware ar tag based localizer
  - Autoware lidar marker localizer
    
    Autoware lidar marker localizer
- Autoware localization error monitor
  Autoware localization error monitor
- Autoware localization util
  Autoware localization util
- Autoware ndt scan matcher
  Autoware ndt scan matcher
  - Include
    Include
    
    Autoware
    Autoware
    
    Ndt scan matcher
    Ndt scan matcher
    
    Ndt omp
    
    Ndt omp
- Autoware pose2twist
  Autoware pose2twist
- Autoware pose covariance modifier
  Autoware pose covariance modifier
- Autoware pose estimator arbiter
  Autoware pose estimator arbiter
  - Example rule
    
    Example rule
- Autoware pose initializer
  Autoware pose initializer
- Autoware pose instability detector
  Autoware pose instability detector
- Autoware stop filter
  Autoware stop filter
- Autoware twist2accel
  Autoware twist2accel
- Yabloc
  Yabloc
  - Yabloc common
    
    Yabloc common
  - Yabloc image processing
    
    Yabloc image processing
  - Yabloc monitor
    
    Yabloc monitor
  - Yabloc particle filter
    
    Yabloc particle filter
  - Yabloc pose initializer
    
    Yabloc pose initializer
Map
Map
- Autoware lanelet2 map visualizer
  Autoware lanelet2 map visualizer
- Autoware map height fitter
  Autoware map height fitter
- Autoware map loader
  Autoware map loader
- Autoware map projection loader
  Autoware map projection loader
- Autoware map tf generator
  Autoware map tf generator
- Util
  Util
  - Lanelet2 map preprocessor
    
    Lanelet2 map preprocessor
Perception
Perception
- Autoware bytetrack
  Autoware bytetrack
- Autoware cluster merger
  Autoware cluster merger
- Autoware compare map segmentation
  Autoware compare map segmentation
- Autoware crosswalk traffic light estimator
  Autoware crosswalk traffic light estimator
- Autoware detected object feature remover
  Autoware detected object feature remover
- Autoware detected object validation
  Autoware detected object validation
- Autoware detection by tracker
  Autoware detection by tracker
- Autoware elevation map loader
  Autoware elevation map loader
- Autoware euclidean cluster
  Autoware euclidean cluster
- Autoware ground segmentation
  Autoware ground segmentation
  - Docs
    Docs
    
    RANSAC Ground Filter
    
    Ray Ground Filter
    
    Scan Ground Filter
- Autoware image projection based fusion
  Autoware image projection based fusion
  - Docs
    Docs
    
    pointpainting_fusion
    
    roi_cluster_fusion
    
    roi_detected_object_fusion
    
    roi_pointcloud_fusion
    
    segmentation_pointcloud_fusion
- Autoware lidar apollo instance segmentation
  Autoware lidar apollo instance segmentation
- Autoware lidar centerpoint
  Autoware lidar centerpoint
- Autoware lidar transfusion
  Autoware lidar transfusion
- Autoware map based prediction
  Autoware map based prediction
- Autoware multi object tracker
  Autoware multi object tracker
  - Models used in this module
- Autoware object merger
  Autoware object merger
- Autoware object range splitter
  Autoware object range splitter
- Autoware object velocity splitter
  Autoware object velocity splitter
- Autoware occupancy grid map outlier filter
  Autoware occupancy grid map outlier filter
- Autoware probabilistic occupancy grid map
  Autoware probabilistic occupancy grid map
- Autoware radar crossing objects noise filter
  Autoware radar crossing objects noise filter
- Autoware radar fusion to detected object
  Autoware radar fusion to detected object
  - Docs
    Docs
    
    Algorithm
- Autoware radar object clustering
  Autoware radar object clustering
- Autoware radar object tracker
  Autoware radar object tracker
  - models
- Autoware radar tracks msgs converter
  Autoware radar tracks msgs converter
- Autoware raindrop cluster filter
  Autoware raindrop cluster filter
  - low_intensity_cluster_filter
- Autoware shape estimation
  Autoware shape estimation
- Autoware simple object merger
  Autoware simple object merger
- Autoware tensorrt classifier
  Autoware tensorrt classifier
- Autoware tensorrt common
  Autoware tensorrt common
- Autoware tensorrt yolox
  Autoware tensorrt yolox
- Autoware tracking object merger
  Autoware tracking object merger
- Autoware traffic light arbiter
  Autoware traffic light arbiter
- Autoware traffic light classifier
  Autoware traffic light classifier
- Autoware traffic light fine detector
  Autoware traffic light fine detector
- Autoware traffic light map based detector
  Autoware traffic light map based detector
- Autoware traffic light multi camera fusion
  Autoware traffic light multi camera fusion
- Autoware traffic light occlusion predictor
  Autoware traffic light occlusion predictor
- Autoware traffic light visualization
  Autoware traffic light visualization
- Perception utils
  Perception utils
Planning
Planning
- Introduction
- Behavior Path Planner
  Behavior Path Planner
  - About Behavior Path
  - Concept
    Concept
    
    Planner Manager
    
    Scene Module Interface
    
    Path Generation
    
    Collision Assessment/Safety Check
    
    Dynamic Drivable Area
    
    Turn Signal
  - Scene Module
    Scene Module
    
    Avoidance by Lane Change
    
    Dynamic Obstacle Avoidance
    
    Goal Planner
    
    Lane Change
    
    Side Shift
    
    Start Planner
    
    Static Obstacle Avoidance
- Behavior Velocity Planner
  Behavior Velocity Planner
  - About Behavior Velocity
  - Template for Custom Module
  - Available Module
    Available Module
    
    Blind Spot
    
    Crosswalk
    
    Detection Area
    
    Intersection
    
    No Drivable Lane
    
    No Stopping Area
    
    Occlusion Spot
    
    Run Out
    
    Speed Bump
    
    Stop Line
    
    Traffic Light
    
    Virtual Traffic Light
    
    Walkway
- Parking
  Parking
  - Freespace Planner
    Freespace Planner
    
    About Freespace Planner
    
    Algorithm
    
    RRT*
- Mission Planner
- Motion Planning
  Motion Planning
  - Path Optimizer
    Path Optimizer
    
    About Path Optimizer
    
    Model Predictive Trajectory (MPT)
    
    How to Debug
  - Obstacle Cruise Planner
    Obstacle Cruise Planner
    
    About Obstacle Cruise
    
    How to Debug
  - Obstacle Stop Planner
  - Path Smoother
    Path Smoother
    
    About Path Smoother
    
    Elastic Band
  - Sampling Based Planner
    Sampling Based Planner
    
    Path Sample
    
    Common library
    
    Frenet Planner
    
    Bezier Sampler
  - Surround Obstacle Checker
    Surround Obstacle Checker
    
    About Surround Obstacle Checker
    
    About Surround Obstacle Checker (Japanese)
  - Motion Velocity Planner
    Motion Velocity Planner
    
    About Motion Velocity Planner
    
    Available Modules
    Available Modules
    
    Dynamic Obstacle Stop
    
    Out of Lane
    
    Obstacle Velocity Limiter
  - Velocity Smoother
    Velocity Smoother
    
    About Velocity Smoother
    
    About Velocity Smoother (Japanese)
- Scenario Selector
- Static Centerline Generator
- API and Library
  API and Library
- Additional Tools
  Additional Tools
  - Remaining Distance Time Calculator
  - Planning Debug Tools
    Planning Debug Tools
    
    About Planning Debug Tools
    
    Stop Reason Visualizer
  - Planning Test Manager
  - Planning Topic Converter
  - Planning Validator
Sensing
Sensing
- Autoware cuda utils
  Autoware cuda utils
- Autoware gnss poser
  Autoware gnss poser
- Autoware image diagnostics
  Autoware image diagnostics
- Autoware image transport decompressor
  Autoware image transport decompressor
- Autoware imu corrector
  Autoware imu corrector
- Autoware pcl extensions
  Autoware pcl extensions
- Autoware pointcloud preprocessor
  Autoware pointcloud preprocessor
  - Docs
    Docs
    
    blockage_diag
    
    concatenate_data
    
    crop_box_filter
    
    distortion_corrector
    
    downsample_filter
    
    dual_return_outlier_filter
    
    outlier_filter
    
    passthrough_filter
    
    pointcloud_accumulator
    
    radius_search_2d_outlier_filter
    
    ring_outlier_filter
    
    vector_map_filter
    
    vector_map_inside_area_filter
    
    voxel_grid_outlier_filter
- Autoware radar scan to pointcloud2
  Autoware radar scan to pointcloud2
- Autoware radar static pointcloud filter
  Autoware radar static pointcloud filter
- Autoware radar threshold filter
  Autoware radar threshold filter
- Autoware radar tracks noise filter
  Autoware radar tracks noise filter
- Autoware vehicle velocity converter
  Autoware vehicle velocity converter
- Livox
  Livox
  - Autoware livox tag filter
    
    Autoware livox tag filter
Simulator
Simulator
- Autoware carla interface
  Autoware carla interface
- Dummy perception publisher
  Dummy perception publisher
- Fault injection
  Fault injection
- Learning based vehicle model
  Learning based vehicle model
- Simple planning simulator
  Simple planning simulator
  - Docs
    Docs
    
    ACTUATION_CMD model
- Tier4 dummy object rviz plugin
  Tier4 dummy object rviz plugin
- Vehicle door simulator
  Vehicle door simulator
System
System
- Autoware component monitor
  Autoware component monitor
- Autoware default adapi
  Autoware default adapi
  - Document
    Document
    
    Autoware state compatibility
    
    Fail-safe API
    
    Interface API
    
    Localization API
    
    Motion API
    
    Operation mode API
    
    Routing API
- Autoware processing time checker
  Autoware processing time checker
- Bluetooth monitor
  Bluetooth monitor
- Component state monitor
  Component state monitor
- Default ad api helpers
  Default ad api helpers
  - Ad api adaptors
    
    Ad api adaptors
  - Automatic pose initializer
    
    Automatic pose initializer
- Diagnostic graph aggregator
  Diagnostic graph aggregator
  - Doc
    Doc
    
    Format
    Format
    
    Edit
    
    Graph
    
    Path
    
    Unit
    
    Edit
    Edit
    
    Remove
    
    Unit
    Unit
    
    And
    
    Constant
    
    Diag
    
    Link
    
    Or
    
    Constant
    
    Tool
    Tool
    
    Tree tool
- Diagnostic graph utils
  Diagnostic graph utils
  - Doc
    Doc
    
    Node
    Node
    
    Converter tool
    
    Dump tool
- Dummy diag publisher
  Dummy diag publisher
- Dummy infrastructure
  Dummy infrastructure
- Duplicated node checker
  Duplicated node checker
- Mrm comfortable stop operator
  Mrm comfortable stop operator
- Mrm emergency stop operator
  Mrm emergency stop operator
- Mrm handler
  Mrm handler
- System diagnostic monitor
  System diagnostic monitor
- System monitor
  System monitor
  - Docs
    Docs
    
    Class diagrams
    
    hdd_reader
    
    msr_reader
    
    ROS parameters
    
    Sequence diagrams
    
    ROS topics: CPU Monitor
    
    ROS topics: GPU Monitor
    
    ROS topics: HDD Monitor
    
    ROS topics: Memory Monitor
    
    ROS topics: Net Monitor
    
    ROS topics: NTP Monitor
    
    ROS topics: Process Monitor
    
    ROS topics: Voltage Monitor
    
    traffic_reader
- Topic state monitor
  Topic state monitor
- Velodyne monitor
  Velodyne monitor
Tools
Tools
- Reaction analyzer
  Reaction analyzer
Vehicle
Vehicle
- Autoware accel brake map calibrator
  Autoware accel brake map calibrator
- Autoware external cmd converter
  Autoware external cmd converter
- Autoware raw vehicle cmd converter
  Autoware raw vehicle cmd converter
- Autoware steer offset estimator
  Autoware steer offset estimator
  - steer_offset_estimator
Visualization
Visualization
- Autoware overlay rviz plugin
  Autoware overlay rviz plugin
  - Autoware mission details overlay rviz plugin
    
    Autoware mission details overlay rviz plugin
  - Autoware overlay rviz plugin
    
    Autoware overlay rviz plugin
- Autoware perception rviz plugin
  Autoware perception rviz plugin
- Bag time manager rviz plugin
  Bag time manager rviz plugin
- Tier4 adapi rviz plugin
  Tier4 adapi rviz plugin
- Tier4 camera view rviz plugin
  Tier4 camera view rviz plugin
- Tier4 datetime rviz plugin
  Tier4 datetime rviz plugin
- Tier4 localization rviz plugin
  Tier4 localization rviz plugin
- Tier4 planning rviz plugin
  Tier4 planning rviz plugin
- Tier4 state rviz plugin
  Tier4 state rviz plugin
- Tier4 system rviz plugin
  Tier4 system rviz plugin
- Tier4 traffic light rviz plugin
  Tier4 traffic light rviz plugin
- Tier4 vehicle rviz plugin
  Tier4 vehicle rviz plugin

perception_utils#

Purpose#

This package contains a library of common functions that are useful across the perception module.