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chore(radar_crossing_objects_noise_filter): fix README (#6262)
* chore(radar_crossing_objects_noise_filter): fix README Signed-off-by: scepter914 <scepter914@gmail.com> * fix README Signed-off-by: scepter914 <scepter914@gmail.com> * style(pre-commit): autofix * Update perception/radar_crossing_objects_noise_filter/README.md Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com> Signed-off-by: scepter914 <scepter914@gmail.com> * Update perception/radar_crossing_objects_noise_filter/README.md Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com> Signed-off-by: scepter914 <scepter914@gmail.com> --------- Signed-off-by: scepter914 <scepter914@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com>
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perception/radar_crossing_objects_noise_filter/README.md

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This package contains a radar noise filter module for [autoware_auto_perception_msgs/msg/DetectedObject](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/DetectedObject.idl).
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This package can filter the noise objects which cross to the ego vehicle.
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## Algorithm
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## Design
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### Background
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![turning_around](docs/turning_around.png)
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### Detail Algorithm
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### Algorithm
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To filter the objects crossing to ego vehicle, this package filter the objects as below algorithm.
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```
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## Input
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## Interface
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| Name | Type | Description |
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| ----------------- | ----------------------------------------------------- | -------------- |
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| `~/input/objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | Radar objects. |
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### Input
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## Output
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- `~/input/objects` (`autoware_auto_perception_msgs/msg/DetectedObjects.msg`)
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- Input radar objects
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| Name | Type | Description |
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| --------------------------- | ----------------------------------------------------- | ---------------- |
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| `~/output/noise_objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | Noise objects |
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| `~/output/filtered_objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | Filtered objects |
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### Output
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## Parameters
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- `~/output/noise_objects` (`autoware_auto_perception_msgs/msg/DetectedObjects.msg`)
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- Noise objects
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- `~/output/filtered_objects` (`autoware_auto_perception_msgs/msg/DetectedObjects.msg`)
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- Filtered objects
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| Name | Type | Description | Default value |
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| :------------------- | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
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| `angle_threshold` | double | The angle threshold parameter to filter [rad]. This parameter has condition that 0 < `angle_threshold` < pi / 2. See algorithm chapter for details. | 1.0472 |
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| `velocity_threshold` | double | The velocity threshold parameter to filter [m/s]. See algorithm chapter for details. | 3.0 |
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### Parameters
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- `angle_threshold` (double) [rad]
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- Default parameter is 1.0472.
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This parameter is the angle threshold to filter. It has condition that 0 < `angle_threshold` < pi / 2. If the crossing angle is larger than this parameter, it can be a candidate for noise object. In other words, if it is smaller than this parameter, it is a filtered object.
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If this parameter is set smaller, more objects are considered noise. In detail, see algorithm chapter.
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- `velocity_threshold` (double) [m/s]
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- Default parameter is 3.0.
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This parameter is the velocity threshold to filter. If velocity of an object is larger than this parameter, it can be a candidate for noise object. In other words, if velocity of an object is smaller than this parameter, it is a filtered object.
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If this parameter is set smaller, more objects are considered noise. In detail, see algorithm chapter.

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