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object_position_filter#

Purpose#

The object_position_filter is a node that filters detected object based on x,y values.
The objects only inside of the x, y bound will be published.

Inner-workings / Algorithms#

Inputs / Outputs#

Input#

Name Type Description
input/object autoware_auto_perception_msgs::msg::DetectedObjects input detected objects

Output#

Name Type Description
output/object autoware_auto_perception_msgs::msg::DetectedObjects 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.
upper_bound_x float 100.00 Bound for filtering. Only used if filter_by_xy_position is true
lower_bound_x float 0.00 Bound for filtering. Only used if filter_by_xy_position is true
upper_bound_y float 50.00 Bound for filtering. Only used if filter_by_xy_position is true
lower_bound_y float -50.00 Bound for filtering. Only used if filter_by_xy_position is true

Assumptions / Known limits#

Filtering is performed based on the center position of the object.

(Optional) Error detection and handling#

(Optional) Performance characterization#

(Optional) Future extensions / Unimplemented parts#