detected_object_validation#

Purpose#

The purpose of this package is to eliminate obvious false positives of DetectedObjects.

References/External links#

Node Parameters#

object_lanelet_filter#

Detected Objects#

Name	Type	Description	Default	Range
filter_target_label.UNKNOWN	boolean	If true, unknown objects are filtered.	true	N/A
filter_target_label.CAR	boolean	If true, car objects are filtered.	false	N/A
filter_target_label.TRUCK	boolean	If true, truck objects are filtered.	false	N/A
filter_target_label.BUS	boolean	If true, bus objects are filtered.	false	N/A
filter_target_label.TRAILER	boolean	If true, trailer objects are filtered.	false	N/A
filter_target_label.MOTORCYCLE	boolean	If true, motorcycle objects are filtered.	false	N/A
filter_target_label.BICYCLE	boolean	If true, bicycle objects are filtered.	false	N/A
filter_target_label.PEDESTRIAN	boolean	If true, pedestrian objects are filtered.	false	N/A
filter_target_label.ANIMAL	boolean	If true, animal objects are filtered.	false	N/A
filter_target_label.HAZARD	boolean	If true, hazard objects are filtered.	false	N/A
filter_settings.lanelet_xy_overlap_filter.enabled	boolean	If true, objects that are not in the lanelet polygon are filtered.	true	N/A
filter_settings.lanelet_direction_filter.enabled	boolean	If true, objects that are not in the same direction as the lanelet are filtered.	false	N/A
filter_settings.lanelet_direction_filter.velocity_yaw_threshold	float	If the yaw difference between the object and the lanelet is greater than this value, the object is filtered.	0.785398	N/A
filter_settings.lanelet_direction_filter.object_speed_threshold	float	If the object speed is greater than this value, the object is filtered.	3.0	N/A
filter_settings.lanelet_object_elevation_filter.enabled	boolean	If true, the objects not within the elevation range relative to the lanelet surface will be filtered.	false	N/A
filter_settings.lanelet_object_elevation_filter.max_elevation_threshold	float	Maximum elevation threshold for filtering objects (in meters).	5.0	N/A
filter_settings.lanelet_object_elevation_filter.min_elevation_threshold	float	Minimum elevation threshold for filtering objects (in meters).	0.0	N/A
filter_settings.lanelet_extra_margin	float	Extra margin added to the lanelet boundaries.	0.0	N/A
filter_settings.debug	boolean	If true, debug information is enabled.	false	N/A

Tracked Objects#

Name	Type	Description	Default	Range
filter_target_label.UNKNOWN	boolean	If true, unknown objects are filtered.	true	N/A
filter_target_label.CAR	boolean	If true, car objects are filtered.	false	N/A
filter_target_label.TRUCK	boolean	If true, truck objects are filtered.	false	N/A
filter_target_label.BUS	boolean	If true, bus objects are filtered.	false	N/A
filter_target_label.TRAILER	boolean	If true, trailer objects are filtered.	false	N/A
filter_target_label.MOTORCYCLE	boolean	If true, motorcycle objects are filtered.	false	N/A
filter_target_label.BICYCLE	boolean	If true, bicycle objects are filtered.	false	N/A
filter_target_label.PEDESTRIAN	boolean	If true, pedestrian objects are filtered.	false	N/A
filter_target_label.ANIMAL	boolean	If true, animal objects are filtered.	false	N/A
filter_target_label.HAZARD	boolean	If true, hazard objects are filtered.	false	N/A
filter_settings.lanelet_xy_overlap_filter.enabled	boolean	If true, objects that are not in the lanelet polygon are filtered.	true	N/A
filter_settings.lanelet_direction_filter.enabled	boolean	If true, objects that are not in the same direction as the lanelet are filtered.	false	N/A
filter_settings.lanelet_direction_filter.velocity_yaw_threshold	float	If the yaw difference between the object and the lanelet is greater than this value, the object is filtered.	0.785398	N/A
filter_settings.lanelet_direction_filter.object_speed_threshold	float	If the object speed is greater than this value, the object is filtered.	3.0	N/A
filter_settings.lanelet_object_elevation_filter.enabled	boolean	If true, the objects not within the elevation range relative to the lanelet surface will be filtered.	false	N/A
filter_settings.lanelet_object_elevation_filter.max_elevation_threshold	float	Maximum elevation threshold for filtering objects (in meters).	5.0	N/A
filter_settings.lanelet_object_elevation_filter.min_elevation_threshold	float	Minimum elevation threshold for filtering objects (in meters).	0.0	N/A
filter_settings.lanelet_extra_margin	float	Extra margin added to the lanelet boundaries.	0.0	N/A
filter_settings.debug	boolean	If true, debug information is enabled.	false	N/A

object_position_filter#

Name	Type	Description	Default	Range
filter_target_label.UNKNOWN	boolean	Filter for UNKNOWN label	true	N/A
filter_target_label.CAR	boolean	Filter for CAR label	false	N/A
filter_target_label.TRUCK	boolean	Filter for TRUCK label	false	N/A
filter_target_label.BUS	boolean	Filter for BUS label	false	N/A
filter_target_label.TRAILER	boolean	Filter for TRAILER label	false	N/A
filter_target_label.MOTORCYCLE	boolean	Filter for MOTORCYCLE label	false	N/A
filter_target_label.BICYCLE	boolean	Filter for BICYCLE label	false	N/A
filter_target_label.PEDESTRIAN	boolean	Filter for PEDESTRIAN label	false	N/A
filter_target_label.ANIMAL	boolean	Filter for ANIMAL label	false	N/A
filter_target_label.HAZARD	boolean	Filter for HAZARD label	false	N/A
upper_bound_x	float	Upper bound for X coordinate	100.0	N/A
lower_bound_x	float	Lower bound for X coordinate	0.0	N/A
upper_bound_y	float	Upper bound for Y coordinate	10.0	N/A
lower_bound_y	float	Lower bound for Y coordinate	-10.0	N/A

obstacle_pointcloud_based_validator#

Name	Type	Description	Default	Range
min_points_num	array	The minimum number of obstacle point clouds in DetectedObjects. Order: [UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN, ANIMAL, HAZARD]	[10, 10, 10, 10, 10, 10, 10, 10, 10, 10]	N/A
max_points_num	array	The max number of obstacle point clouds in DetectedObjects. Order: [UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN, ANIMAL, HAZARD]	[10, 10, 10, 10, 10, 10, 10, 10, 10, 10]	N/A
min_points_and_distance_ratio	array	Threshold value of the number of point clouds per object when the distance from baselink is 1m, because the number of point clouds varies with the distance from baselink. Order: [UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN, ANIMAL, HAZARD]	[800, 800, 800, 800, 800, 800, 800, 800, 800, 800]	N/A
validate_max_distance_m	float	The maximum distance from the baselink to the object to be validated	70.0	N/A
using_2d_validator	boolean	The xy-plane projected (2D) obstacle point clouds will be used for validation	false	N/A
enable_debugger	boolean	Whether to create debug topics or not?	false	N/A

occupancy_grid_based_validator#

Name	Type	Description	Default	Range
mean_threshold	float	The percentage threshold of allowed non-freespace.	0.6	N/A
enable_debug	boolean	Whether to display debug images or not?	false	N/A