object_lanelet_filter#
Purpose#
The object_lanelet_filter is a node that filters detected object by using vector map.
The objects only inside of the vector map will be published.
Inner-workings / Algorithms#
Inputs / Outputs#
Input#
| Name | Type | Description |
|---|---|---|
input/vector_map |
autoware_auto_mapping_msgs::msg::HADMapBin |
vector map |
input/object |
autoware_auto_perception_msgs::msg::DetectedObjects |
input detected objects |
Output#
| Name | Type | Description |
|---|---|---|
output/object |
autoware_auto_perception_msgs::msg::DetectedObjects |
filtered detected objects |
Parameters#
Core Parameters#
| Name | Type | Default Value | Description |
|---|---|---|---|
filter_target_label.UNKNOWN |
bool | false | If true, unknown objects are filtered. |
filter_target_label.CAR |
bool | false | If true, car objects are filtered. |
filter_target_label.TRUCK |
bool | false | If true, truck objects are filtered. |
filter_target_label.BUS |
bool | false | If true, bus objects are filtered. |
filter_target_label.TRAILER |
bool | false | If true, trailer objects are filtered. |
filter_target_label.MOTORCYCLE |
bool | false | If true, motorcycle objects are filtered. |
filter_target_label.BICYCLE |
bool | false | If true, bicycle objects are filtered. |
filter_target_label.PEDESTRIAN |
bool | false | If true, pedestrian objects are filtered. |
Assumptions / Known limits#
The lanelet filter is performed based on the shape polygon and bounding box of the objects.