From 80ee87b06bbec26cf9a8cdd61e75a225fb9c4fc9 Mon Sep 17 00:00:00 2001 From: scepter914 Date: Wed, 31 Jan 2024 04:17:12 +0900 Subject: [PATCH 1/5] chore(radar_crossing_objects_noise_filter): fix README Signed-off-by: scepter914 --- .../README.md | 39 +++++++++++-------- 1 file changed, 23 insertions(+), 16 deletions(-) diff --git a/perception/radar_crossing_objects_noise_filter/README.md b/perception/radar_crossing_objects_noise_filter/README.md index dc1283798fed9..66ca19f45ccb0 100644 --- a/perception/radar_crossing_objects_noise_filter/README.md +++ b/perception/radar_crossing_objects_noise_filter/README.md @@ -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 @@ -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. @@ -51,22 +51,29 @@ To filter the objects crossing to ego vehicle, this package filter the objects a } ``` -## Input +## Interface +### Input -| Name | Type | Description | -| ----------------- | ----------------------------------------------------- | -------------- | -| `~/input/objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | Radar objects. | +- `~/input/objects` (`autoware_auto_perception_msgs/msg/DetectedObjects.msg`) + - Input radar objects -## Output +### Output -| 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/noise_objects` (`autoware_auto_perception_msgs/msg/DetectedObjects.msg`) + - Noise objects +- `~/output/filtered_objects` (`autoware_auto_perception_msgs/msg/DetectedObjects.msg`) + - Filtered objects -## Parameters +### Parameters -| 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 | +- `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. See algorithm chapter for details. + +- `velocity_threshold` (double) [m/s] + - Default parameter is 3.0. + +This parameter is the velocity threshold to filter. +See algorithm chapter for details. From 52093a225cc7f5b45d1726548a23dcb452e26b96 Mon Sep 17 00:00:00 2001 From: scepter914 Date: Wed, 31 Jan 2024 04:26:00 +0900 Subject: [PATCH 2/5] fix README Signed-off-by: scepter914 --- perception/radar_crossing_objects_noise_filter/README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/perception/radar_crossing_objects_noise_filter/README.md b/perception/radar_crossing_objects_noise_filter/README.md index 66ca19f45ccb0..d5425d1b39f6a 100644 --- a/perception/radar_crossing_objects_noise_filter/README.md +++ b/perception/radar_crossing_objects_noise_filter/README.md @@ -69,11 +69,11 @@ To filter the objects crossing to ego vehicle, this package filter the objects a - `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. See algorithm chapter for details. +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. -See algorithm chapter for details. +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. From 4058f834f1bfc208ddff1992829d1501614df2ac Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 1 Feb 2024 00:37:43 +0000 Subject: [PATCH 3/5] style(pre-commit): autofix --- perception/radar_crossing_objects_noise_filter/README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/perception/radar_crossing_objects_noise_filter/README.md b/perception/radar_crossing_objects_noise_filter/README.md index d5425d1b39f6a..94b24368c65b4 100644 --- a/perception/radar_crossing_objects_noise_filter/README.md +++ b/perception/radar_crossing_objects_noise_filter/README.md @@ -52,6 +52,7 @@ To filter the objects crossing to ego vehicle, this package filter the objects a ``` ## Interface + ### Input - `~/input/objects` (`autoware_auto_perception_msgs/msg/DetectedObjects.msg`) From 2b08fa18536099ccf58c71e8f9872cd1a2708317 Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Fri, 2 Feb 2024 11:02:55 +0900 Subject: [PATCH 4/5] Update perception/radar_crossing_objects_noise_filter/README.md Co-authored-by: Yoshi Ri Signed-off-by: scepter914 --- perception/radar_crossing_objects_noise_filter/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/radar_crossing_objects_noise_filter/README.md b/perception/radar_crossing_objects_noise_filter/README.md index 94b24368c65b4..5c22156b03085 100644 --- a/perception/radar_crossing_objects_noise_filter/README.md +++ b/perception/radar_crossing_objects_noise_filter/README.md @@ -77,4 +77,4 @@ If this parameter is set smaller, more objects are considered noise. In detail. - 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. +If this parameter is set smaller, more objects are considered noise. In detail, see algorithm chapter. From 24ca381e71faa8bd14bf5c993d0ebd59bd8d8e0a Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Fri, 2 Feb 2024 11:03:01 +0900 Subject: [PATCH 5/5] Update perception/radar_crossing_objects_noise_filter/README.md Co-authored-by: Yoshi Ri Signed-off-by: scepter914 --- perception/radar_crossing_objects_noise_filter/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/radar_crossing_objects_noise_filter/README.md b/perception/radar_crossing_objects_noise_filter/README.md index 5c22156b03085..d6d6005a5178e 100644 --- a/perception/radar_crossing_objects_noise_filter/README.md +++ b/perception/radar_crossing_objects_noise_filter/README.md @@ -71,7 +71,7 @@ To filter the objects crossing to ego vehicle, this package filter the objects a - 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. +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.