bbox_object_locator

Inner Workings / Algorithms

This node produces 3D object detection from a 2D image bounding box (bbox) through the following steps:

1. Back-project the bottom-center pixel of a bbox onto the ground plane (z=0 in the target coordinate system). This point is used as the object's bottom center.
2. Back-project the top-center pixel of the bbox to a point near the one computed in step 1 for height estimation.
3. Back-project the bottom-left and bottom-right pixels of the bbox to estimate the object’s width (diameter).
4. Use these four points to determine the object’s position and size.

Parameters

Name	Type	Description	Default	Range
target_frame	string	Transform target frame.	base_link	N/A
detection_target_class.UNKNOWN	boolean	If true, objects with the 'UNKNOWN' label will be ignored during processing.	True	N/A
detection_target_class.CAR	boolean	If true, objects with the 'CAR' label will be ignored during processing.	True	N/A
detection_target_class.TRUCK	boolean	If true, objects with the 'TRUCK' label will be ignored during processing.	True	N/A
detection_target_class.BUS	boolean	If true, objects with the 'BUS' label will be ignored during processing.	True	N/A
detection_target_class.TRAILER	boolean	If true, objects with the 'TRAILER' label will be ignored during processing.	True	N/A
detection_target_class.MOTORCYCLE	boolean	If true, objects with the 'MOTORCYCLE' label will be ignored during processing.	True	N/A
detection_target_class.BICYCLE	boolean	If true, objects with the 'BICYCLE' label will be ignored during processing.	True	N/A
detection_target_class.PEDESTRIAN	boolean	If true, objects with the 'PEDESTRIAN' label will be ignored during processing.	False	N/A
roi_confidence_threshold	float	Threshold value for whether to trust and use the ROI. If the confidence of an ROI is below this value, it will not be used.	0.8	≥0.0 ≤1.0
roi_truncation_validation.enabled	array	Flags to enable validation for each ROI. Must have the same number as the input ROIs.	[False, False, False, False, False, False, False, False]	N/A
roi_truncation_validation.remove_truncated	array	If this is true, the object will be removed when its ROI is evaluated as truncated. Must have the same number as the input ROIs.	[False, False, False, False, False, False, False, False]	N/A
roi_truncation_validation.image_border_truncation_horizontal_margin_ratio	float	Margin ratio used to detect whether the ROI is truncated based on the image width.	0.0	≥0.0 ≤0.5
roi_truncation_validation.image_border_truncation_vertical_margin_ratio	float	Margin ratio used to detect whether the ROI is truncated based on the image height.	0.0	≥0.0 ≤0.5
detection_max_range	float	Maximum detection range. Objects beyond this distance will not be included in the output [m].	30.0	≥0.0
pseudo_height	float	If height was not able to compute, this value will used as pseudo height of a object [m].	1.5	≥0.1
pedestrian_detection_config.width_min	float	If the estimated width is smaller than this value, it will be clamped to this value [m].	0.5	≥0.3
pedestrian_detection_config.width_max	float	If the estimated width is larger than this value, it will be clamped to this value [m].	0.8	≥0.3

Input

Name	Type	Description
input/rois<id>	tier4_perception_msgs::msg::DetectedObjectsWithFeature	's input ROI
input/camera_info<id>	sensor_msgs::msg::CameraInfo	's camera info

Output

Name	Type	Description
output/rois<id>/objects	autoware_perception_msgs::msg::DetectedObjects	The object generated from 's 2D ROI