obstacle pointcloud based validator#
Inner-workings / Algorithms#
If the number of obstacle point groups in the DetectedObjects is small, it is considered a false positive and removed. The obstacle point cloud can be a point cloud after compare map filtering or a ground filtered point cloud.
In the debug image above, the red DetectedObject is the validated object. The blue object is the deleted object.
Inputs / Outputs#
Input#
| Name | Type | Description |
|---|---|---|
~/input/detected_objects |
autoware_perception_msgs::msg::DetectedObjects |
DetectedObjects |
~/input/obstacle_pointcloud |
sensor_msgs::msg::PointCloud2 |
Obstacle point cloud of dynamic objects |
Output#
| Name | Type | Description |
|---|---|---|
~/output/objects |
autoware_perception_msgs::msg::DetectedObjects |
validated DetectedObjects |
Parameters#
| Name | Type | Description |
|---|---|---|
using_2d_validator |
bool | The xy-plane projected (2D) obstacle point clouds will be used for validation |
min_points_num |
int | The minimum number of obstacle point clouds in DetectedObjects |
max_points_num |
int | The max number of obstacle point clouds in DetectedObjects |
min_points_and_distance_ratio |
float | 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. |
enable_debugger |
bool | Whether to create debug topics or not? |
Assumptions / Known limits#
Currently, only represented objects as BoundingBox or Cylinder are supported.