README.md

autoware_auto_perception_plugin

Purpose

It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.

See Autoware.Auto design documentation for the original design philosophy. [1]

Input Types / Visualization Results

DetectedObjects

Input Types

Name	Type	Description
	autoware_auto_perception_msgs::msg::DetectedObjects	detection result array
	sensor_msgs::msg::PointCloud2	point cloud for filtering

Visualization Result

TrackedObjects

Input Types

Name	Type	Description
	autoware_auto_perception_msgs::msg::TrackedObjects	tracking result array
	sensor_msgs::msg::PointCloud2	point cloud for filtering

Visualization Result

Overwrite tracking results with detection results.

PredictedObjects

Input Types

Name	Type	Description
	autoware_auto_perception_msgs::msg::PredictedObjects	prediction result array
	sensor_msgs::msg::PointCloud2	pointcloud for filtering

Visualization Result

Overwrite prediction results with tracking results.

Visualization with active point cloud publishing

Publishing colored point clouds. With colors according to different classes of detected objects, same as polygons.

References/External links

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

Future extensions / Unimplemented parts