occupancy grid based validator#
Inner-workings / Algorithms#
Compare the occupancy grid map with the DetectedObject, and if a larger percentage of obstacles are in freespace, delete them.
Basically, it takes an occupancy grid map as input and generates a binary image of freespace or other.
A mask image is generated for each DetectedObject and the average value (percentage) in the mask image is calculated. If the percentage is low, it is deleted.
Inputs / Outputs#
Input#
| Name | Type | Description |
|---|---|---|
~/input/detected_objects |
autoware_perception_msgs::msg::DetectedObjects |
DetectedObjects |
~/input/occupancy_grid_map |
nav_msgs::msg::OccupancyGrid |
OccupancyGrid with no time series calculation is preferred. |
Output#
| Name | Type | Description |
|---|---|---|
~/output/objects |
autoware_perception_msgs::msg::DetectedObjects |
validated DetectedObjects |
Parameters#
| Name | Type | Description |
|---|---|---|
mean_threshold |
float | The percentage threshold of allowed non-freespace. |
enable_debug |
bool | Whether to display debug images or not? |
Assumptions / Known limits#
Currently, only vehicle represented as BoundingBox are supported.