ROI Object Filter

The ROI object filter node uses information from the ADAS map to remove the detected objects outside of the drivable area.

Requirements

1. PointCloud map.
2. ADAS map with drivable area included (`wayarea).
3. OccupancyGrid in GridMap format.
4. NDT localization (TF tree properly constructed).

Input Topics

1. GridMap containing the drivable area occupancy grid (grid_map_msgs/GridMap). Published by wayarea2grid node in the semantics package.
2. Object Detection results to filter (autoware_msgs/DetectedObjectArray). Published by an object detector.

Output Topics

1. Objects with the valid field modified according to the ROI, including those in the list of exceptions (autoware_msgs/DetectedObjectArray) on the /detection/object_filter/objects topic.

Parameters

Available parameters:

Usage example

1. Launch a ground filter algorithm from the Points Preprocessor section in the Sensing tab. (adjust the parameters to your vehicle setup).
2. Launch a Lidar Detector from the Computing tab or fusion.
3. Launch NDT localization with the Map and VectorMap being published.
4. Launch wayarea2grid from the Semantics package in the Computing** tab.
5. Launch this node.

Notes

• VectorMap MUST include the drivable area (i.e. wayarea.csv)

Changelog for package roi_object_filter

1.11.0 (2019-03-21)

• [fix] Install commands for all the packages (#1861)
  • Initial fixes to detection, sensing, semantics and utils
  • fixing wrong filename on install command
  • Fixes to install commands
  • Hokuyo fix name
  • Fix obj db
  • Obj db include fixes
  • End of final cleaning sweep
  • Incorrect command order in runtime manager
  • Param tempfile not required by runtime_manager
  • • Fixes to runtime manager install commands
  • Remove devel directory from catkin, if any
  • Updated launch files for robosense
  • Updated robosense
  • Fix/add missing install (#1977)
  • Added launch install to lidar_kf_contour_track
  • Added install to op_global_planner
  • Added install to way_planner
  • Added install to op_local_planner
  • Added install to op_simulation_package
  • Added install to op_utilities
  • Added install to sync
  • • Improved installation script for pointgrey packages
  • Fixed nodelet error for gmsl cameras
  • USe install space in catkin as well
  • add install to catkin
  • Fix install directives (#1990)
  • Fixed installation path
  • Fixed params installation path
  • Fixed cfg installation path
  • Delete cache on colcon_release
• Updated license to Apache
• • Fix install commands
  • Fix license
• Updated License notice (#1850)
• Added CheckPointInGrid Test to RoiFilter
• Adaptation of Object Filter with new perception workflow
• feature/test_object_sanitizer (#1713)
  • Added unit test base
  • Added friend class and sample test
  • Added comment on test
• Updated readme
• Initial release of object filter
• Contributors: Abraham Monrroy, Abraham Monrroy Cano, Servando, amc-nu