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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ieiauto/autodrrt.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-09-19 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package implements a shape estimation algorithm as a ROS 2 node
Additional Links
No additional links.
Maintainers
- Yukihiro Saito
- Yoshi Ri
Authors
No additional authors.
shape_estimation
Purpose
This node calculates a refined object shape (bounding box, cylinder, convex hull) in which a pointcloud cluster fits according to a label.
Inner-workings / Algorithms
Fitting algorithms
-
bounding box
L-shape fitting. See reference below for details.
-
cylinder
cv::minEnclosingCircle -
convex hull
cv::convexHull
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
input |
tier4_perception_msgs::msg::DetectedObjectsWithFeature |
detected objects with labeled cluster |
Output
| Name | Type | Description |
|---|---|---|
output/objects |
autoware_auto_perception_msgs::msg::DetectedObjects |
detected objects with refined shape |
Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
use_corrector |
bool | true | The flag to apply rule-based filter |
use_filter |
bool | true | The flag to apply rule-based corrector |
use_vehicle_reference_yaw |
bool | true | The flag to use vehicle reference yaw for corrector |
Assumptions / Known limits
TBD
References/External links
L-shape fitting implementation of the paper:
@conference{Zhang-2017-26536,
author = {Xiao Zhang and Wenda Xu and Chiyu Dong and John M. Dolan},
title = {Efficient L-Shape Fitting for Vehicle Detection Using Laser Scanners},
booktitle = {2017 IEEE Intelligent Vehicles Symposium},
year = {2017},
month = {June},
keywords = {autonomous driving, laser scanner, perception, segmentation},
}
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/shape_estimation.launch.xml
-
- input/objects [default: labeled_clusters]
- output/objects [default: shape_estimated_objects]
- use_filter [default: true]
- use_corrector [default: true]
- node_name [default: shape_estimation]
- use_vehicle_reference_yaw [default: false]
- use_vehicle_reference_shape_size [default: false]
- use_boost_bbox_optimizer [default: false]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged shape_estimation at Robotics Stack Exchange
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