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autoware_object_sorter#

This package contains a object filter module for autoware_perception_msgs/msg/DetectedObject and autoware_perception_msgs/msg/TrackedObject.

This package can filter the objects based on range and velocity.

Interface#

Input#

  • ~/input/objects (autoware_perception_msgs/msg/DetectedObjects.msg or autoware_perception_msgs/msg/TrackedObjects.msg)
    • 3D detected objects

Output#

  • ~/output/objects (autoware_perception_msgs/msg/DetectedObjects.msg or autoware_perception_msgs/msg/TrackedObjects.msg)

Parameters#

Name Type Description Default Range
range_calc_frame_id string Target frame of the calculations. base_link N/A
range_calc_offset.x float An offset value for the x-axis in the target frame when calculating the range [m]. 0.0 N/A
range_calc_offset.y float An offset value for the y-axis in the target frame when calculating the range [m]. 0.0 N/A
sort_target.UNKNOWN.publish boolean If true, objects with the 'UNKNOWN' label will be published. true N/A
sort_target.UNKNOWN.min_velocity_threshold float Minimum velocity threshold for retaining objects [m/s]. 0.0 ≥0.0
sort_target.UNKNOWN.range_threshold.max_distance float Maximum distance threshold for retaining objects [m]. 100.0 N/A
sort_target.UNKNOWN.range_threshold.min_distance float Minimum distance threshold for retaining objects [m]. 30.0 N/A
sort_target.UNKNOWN.range_threshold.max_x float Maximum x-axis distance threshold for retaining objects [m]. 100.0 N/A
sort_target.UNKNOWN.range_threshold.min_x float Minimum x-axis distance threshold for retaining objects [m]. -100.0 N/A
sort_target.UNKNOWN.range_threshold.max_y float Maximum y-axis distance threshold for retaining objects [m]. 100.0 N/A
sort_target.UNKNOWN.range_threshold.min_y float Minimum y-axis distance threshold for retaining objects [m]. -100.0 N/A
sort_target.CAR.publish boolean If true, objects with the 'CAR' label will be published. true N/A
sort_target.CAR.min_velocity_threshold float Minimum velocity threshold for retaining objects [m/s]. 0.0 ≥0.0
sort_target.CAR.range_threshold.max_distance float Maximum distance threshold for retaining objects [m]. 100.0 N/A
sort_target.CAR.range_threshold.min_distance float Minimum distance threshold for retaining objects [m]. 30.0 N/A
sort_target.CAR.range_threshold.max_x float Maximum x-axis distance threshold for retaining objects [m]. 100.0 N/A
sort_target.CAR.range_threshold.min_x float Minimum x-axis distance threshold for retaining objects [m]. -100.0 N/A
sort_target.CAR.range_threshold.max_y float Maximum y-axis distance threshold for retaining objects [m]. 100.0 N/A
sort_target.CAR.range_threshold.min_y float Minimum y-axis distance threshold for retaining objects [m]. -100.0 N/A
sort_target.TRUCK.publish boolean If true, objects with the 'TRUCK' label will be published. true N/A
sort_target.TRUCK.min_velocity_threshold float Minimum velocity threshold for retaining objects [m/s]. 0.0 ≥0.0
sort_target.TRUCK.range_threshold.max_distance float Maximum distance threshold for retaining objects [m]. 100.0 N/A
sort_target.TRUCK.range_threshold.min_distance float Minimum distance threshold for retaining objects [m]. 30.0 N/A
sort_target.TRUCK.range_threshold.max_x float Maximum x-axis distance threshold for retaining objects [m]. 100.0 N/A
sort_target.TRUCK.range_threshold.min_x float Minimum x-axis distance threshold for retaining objects [m]. -100.0 N/A
sort_target.TRUCK.range_threshold.max_y float Maximum y-axis distance threshold for retaining objects [m]. 100.0 N/A
sort_target.TRUCK.range_threshold.min_y float Minimum y-axis distance threshold for retaining objects [m]. -100.0 N/A
sort_target.BUS.publish boolean If true, objects with the 'BUS' label will be published. true N/A
sort_target.BUS.min_velocity_threshold float Minimum velocity threshold for retaining objects [m/s]. 0.0 ≥0.0
sort_target.BUS.range_threshold.max_distance float Maximum distance threshold for retaining objects [m]. 100.0 N/A
sort_target.BUS.range_threshold.min_distance float Minimum distance threshold for retaining objects [m]. 30.0 N/A
sort_target.BUS.range_threshold.max_x float Maximum x-axis distance threshold for retaining objects [m]. 100.0 N/A
sort_target.BUS.range_threshold.min_x float Minimum x-axis distance threshold for retaining objects [m]. -100.0 N/A
sort_target.BUS.range_threshold.max_y float Maximum y-axis distance threshold for retaining objects [m]. 100.0 N/A
sort_target.BUS.range_threshold.min_y float Minimum y-axis distance threshold for retaining objects [m]. -100.0 N/A
sort_target.TRAILER.publish boolean If true, objects with the 'TRAILER' label will be published. true N/A
sort_target.TRAILER.min_velocity_threshold float Minimum velocity threshold for retaining objects [m/s]. 0.0 ≥0.0
sort_target.TRAILER.range_threshold.max_distance float Maximum distance threshold for retaining objects [m]. 100.0 N/A
sort_target.TRAILER.range_threshold.min_distance float Minimum distance threshold for retaining objects [m]. 30.0 N/A
sort_target.TRAILER.range_threshold.max_x float Maximum x-axis distance threshold for retaining objects [m]. 100.0 N/A
sort_target.TRAILER.range_threshold.min_x float Minimum x-axis distance threshold for retaining objects [m]. -100.0 N/A
sort_target.TRAILER.range_threshold.max_y float Maximum y-axis distance threshold for retaining objects [m]. 100.0 N/A
sort_target.TRAILER.range_threshold.min_y float Minimum y-axis distance threshold for retaining objects [m]. -100.0 N/A
sort_target.MOTORCYCLE.publish boolean If true, objects with the 'MOTORCYCLE' label will be published. true N/A
sort_target.MOTORCYCLE.min_velocity_threshold float Minimum velocity threshold for retaining objects [m/s]. 0.0 ≥0.0
sort_target.MOTORCYCLE.range_threshold.max_distance float Maximum distance threshold for retaining objects [m]. 100.0 N/A
sort_target.MOTORCYCLE.range_threshold.min_distance float Minimum distance threshold for retaining objects [m]. 30.0 N/A
sort_target.MOTORCYCLE.range_threshold.max_x float Maximum x-axis distance threshold for retaining objects [m]. 100.0 N/A
sort_target.MOTORCYCLE.range_threshold.min_x float Minimum x-axis distance threshold for retaining objects [m]. -100.0 N/A
sort_target.MOTORCYCLE.range_threshold.max_y float Maximum y-axis distance threshold for retaining objects [m]. 100.0 N/A
sort_target.MOTORCYCLE.range_threshold.min_y float Minimum y-axis distance threshold for retaining objects [m]. -100.0 N/A
sort_target.BICYCLE.publish boolean If true, objects with the 'BICYCLE' label will be published. true N/A
sort_target.BICYCLE.min_velocity_threshold float Minimum velocity threshold for retaining objects [m/s]. 0.0 ≥0.0
sort_target.BICYCLE.range_threshold.max_distance float Maximum distance threshold for retaining objects [m]. 100.0 N/A
sort_target.BICYCLE.range_threshold.min_distance float Minimum distance threshold for retaining objects [m]. 30.0 N/A
sort_target.BICYCLE.range_threshold.max_x float Maximum x-axis distance threshold for retaining objects [m]. 100.0 N/A
sort_target.BICYCLE.range_threshold.min_x float Minimum x-axis distance threshold for retaining objects [m]. -100.0 N/A
sort_target.BICYCLE.range_threshold.max_y float Maximum y-axis distance threshold for retaining objects [m]. 100.0 N/A
sort_target.BICYCLE.range_threshold.min_y float Minimum y-axis distance threshold for retaining objects [m]. -100.0 N/A
sort_target.PEDESTRIAN.publish boolean If true, objects with the 'PEDESTRIAN' label will be published. true N/A
sort_target.PEDESTRIAN.min_velocity_threshold float Minimum velocity threshold for retaining objects [m/s]. 0.0 ≥0.0
sort_target.PEDESTRIAN.range_threshold.max_distance float Maximum distance threshold for retaining objects [m]. 100.0 N/A
sort_target.PEDESTRIAN.range_threshold.min_distance float Minimum distance threshold for retaining objects [m]. 30.0 N/A
sort_target.PEDESTRIAN.range_threshold.max_x float Maximum x-axis distance threshold for retaining objects [m]. 100.0 N/A
sort_target.PEDESTRIAN.range_threshold.min_x float Minimum x-axis distance threshold for retaining objects [m]. -100.0 N/A
sort_target.PEDESTRIAN.range_threshold.max_y float Maximum y-axis distance threshold for retaining objects [m]. 100.0 N/A
sort_target.PEDESTRIAN.range_threshold.min_y float Minimum y-axis distance threshold for retaining objects [m]. -100.0 N/A
sort_target.ANIMAL.publish boolean If true, objects with the 'ANIMAL' label will be published. true N/A
sort_target.ANIMAL.min_velocity_threshold float Minimum velocity threshold for retaining objects [m/s]. 0.0 ≥0.0
sort_target.ANIMAL.range_threshold.max_distance float Maximum distance threshold for retaining objects [m]. 100.0 N/A
sort_target.ANIMAL.range_threshold.min_distance float Minimum distance threshold for retaining objects [m]. 30.0 N/A
sort_target.ANIMAL.range_threshold.max_x float Maximum x-axis distance threshold for retaining objects [m]. 100.0 N/A
sort_target.ANIMAL.range_threshold.min_x float Minimum x-axis distance threshold for retaining objects [m]. -100.0 N/A
sort_target.ANIMAL.range_threshold.max_y float Maximum y-axis distance threshold for retaining objects [m]. 100.0 N/A
sort_target.ANIMAL.range_threshold.min_y float Minimum y-axis distance threshold for retaining objects [m]. -100.0 N/A
sort_target.HAZARD.publish boolean If true, objects with the 'HAZARD' label will be published. true N/A
sort_target.HAZARD.min_velocity_threshold float Minimum velocity threshold for retaining objects [m/s]. 0.0 ≥0.0
sort_target.HAZARD.range_threshold.max_distance float Maximum distance threshold for retaining objects [m]. 100.0 N/A
sort_target.HAZARD.range_threshold.min_distance float Minimum distance threshold for retaining objects [m]. 30.0 N/A
sort_target.HAZARD.range_threshold.max_x float Maximum x-axis distance threshold for retaining objects [m]. 100.0 N/A
sort_target.HAZARD.range_threshold.min_x float Minimum x-axis distance threshold for retaining objects [m]. -100.0 N/A
sort_target.HAZARD.range_threshold.max_y float Maximum y-axis distance threshold for retaining objects [m]. 100.0 N/A
sort_target.HAZARD.range_threshold.min_y float Minimum y-axis distance threshold for retaining objects [m]. -100.0 N/A