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chore(radar_crossing_objects_noise_filter): fix README #6262

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40 changes: 24 additions & 16 deletions perception/radar_crossing_objects_noise_filter/README.md
Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
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).
This package can filter the noise objects which cross to the ego vehicle.

## Algorithm
## Design

### Background

Expand Down Expand Up @@ -32,7 +32,7 @@ When the ego vehicle turn right, the surrounding objects have left circular moti

![turning_around](docs/turning_around.png)

### Detail Algorithm
### Algorithm

To filter the objects crossing to ego vehicle, this package filter the objects as below algorithm.

Expand All @@ -51,22 +51,30 @@ To filter the objects crossing to ego vehicle, this package filter the objects a
}
```

## Input
## Interface

| Name | Type | Description |
| ----------------- | ----------------------------------------------------- | -------------- |
| `~/input/objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | Radar objects. |
### Input

## Output
- `~/input/objects` (`autoware_auto_perception_msgs/msg/DetectedObjects.msg`)
- Input radar objects

| Name | Type | Description |
| --------------------------- | ----------------------------------------------------- | ---------------- |
| `~/output/noise_objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | Noise objects |
| `~/output/filtered_objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | Filtered objects |
### Output

## Parameters
- `~/output/noise_objects` (`autoware_auto_perception_msgs/msg/DetectedObjects.msg`)
- Noise objects
- `~/output/filtered_objects` (`autoware_auto_perception_msgs/msg/DetectedObjects.msg`)
- Filtered objects

| Name | Type | Description | Default value |
| :------------------- | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
| `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 |
| `velocity_threshold` | double | The velocity threshold parameter to filter [m/s]. See algorithm chapter for details. | 3.0 |
### Parameters

- `angle_threshold` (double) [rad]
- Default parameter is 1.0472.

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.
If this parameter is set smaller, more objects are considered noise. In detail, see algorithm chapter.

- `velocity_threshold` (double) [m/s]
- Default parameter is 3.0.

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.
If this parameter is set smaller, more objects are considered noise. In detail, see algorithm chapter.
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