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#
| Name | Type | Description | Default | Range |
|---|---|---|---|---|
| node_params.is_amplitude_filter | boolean | If true, amplitude filtering is enabled. | true | N/A |
| node_params.amplitude_min | float | Minimum amplitude threshold. | -10.0 | N/A |
| node_params.amplitude_max | float | Maximum amplitude threshold. | 100.0 | N/A |
| node_params.is_range_filter | boolean | If true, range filtering is enabled. | false | N/A |
| node_params.range_min | float | Minimum range threshold. | 20.0 | N/A |
| node_params.range_max | float | Maximum range threshold. | 300.0 | N/A |
| node_params.is_azimuth_filter | boolean | If true, azimuth filtering is enabled. | true | N/A |
| node_params.azimuth_min | float | Minimum azimuth threshold (radians). | -1.2 | N/A |
| node_params.azimuth_max | float | Maximum azimuth threshold (radians). | 1.2 | N/A |
| node_params.is_z_filter | boolean | If true, Z filtering is enabled. | false | N/A |
| node_params.z_min | float | Minimum Z threshold (meters). | -2.0 | N/A |
| node_params.z_max | float | Maximum Z threshold (meters). | 5.0 | N/A |
| node_params.max_queue_size | integer | Maximum size of the queue. | 5 | N/A |
How to launch#
sh
ros2 launch autoware_radar_threshold_filter radar_threshold_filter.launch.xml