radar_threshold_filter

radar_threshold_filter_node

Remove noise from radar return by threshold.

• Amplitude filter: Low amplitude consider noise
• FOV filter: Pointcloud from radar's FOV edge occur perturbation
• Range filter: Too near pointcloud often occur noise

Calculation cost is O(n). n is the number of radar return.

Input topics

Name	Type	Description
input/radar	radar_msgs/msg/RadarScan.msg	Radar pointcloud data

Output topics

Name	Type	Description
output/radar	radar_msgs/msg/RadarScan.msg	Filtered radar pointcloud

Parameters

• For node parameter

Name	Type	Description
is_amplitude_filter	bool	if this parameter is true, apply amplitude filter (publish amplitude_min < amplitude < amplitude_max)
amplitude_min	double	[dBm^2]
amplitude_max	double	[dBm^2]
is_range_filter	bool	if this parameter is true, apply range filter (publish range_min < range < range_max)
range_min	double	[m]
range_max	double	[m]
is_azimuth_filter	bool	if this parameter is true, apply angle filter (publish azimuth_min < range < azimuth_max)
azimuth_min	double	[rad]
azimuth_max	double	[rad]
is_z_filter	bool	if this parameter is true, apply z position filter (publish z_min < z < z_max)
z_min	double	[m]
z_max	double	[m]

How to launch

ros2 launch autoware_radar_threshold_filter radar_threshold_filter.launch.xml