From 14f49873882d3bfe75bbd47300672e4297ef0fe2 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Wed, 22 Jan 2025 23:10:39 +0900 Subject: [PATCH] feat(autoware_detected_object_validation): add height filter in lanelet filtering (#1307) * chore(package.xml): bump version to 0.38.0 (#1226) * add changelog Signed-off-by: Yutaka Kondo * unify package.xml version to 0.37.0 Signed-off-by: Yutaka Kondo * 0.38.0 * fix organization Signed-off-by: Yutaka Kondo --------- Signed-off-by: Yutaka Kondo * youtalk username Signed-off-by: Yutaka Kondo * update changelog Signed-off-by: Yutaka Kondo * 0.39.0 * Update autoware_launch/CHANGELOG.rst Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> * change username Signed-off-by: Yutaka Kondo * chore(package.xml): bump version to 0.39.0 (#1248) Signed-off-by: Go Sakayori Signed-off-by: Go Sakayori Signed-off-by: kosuke55 Signed-off-by: Taekjin LEE Signed-off-by: Shintaro Sakoda Signed-off-by: Zulfaqar Azmi Signed-off-by: satoshi-ota Signed-off-by: takeshi.iwanari Signed-off-by: Yuki Takagi Signed-off-by: Takayuki Murooka Signed-off-by: Daniel Sanchez Signed-off-by: Maxime CLEMENT Signed-off-by: xtk8532704 <1041084556@qq.com> Signed-off-by: Yutaka Kondo Co-authored-by: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Co-authored-by: Go Sakayori Co-authored-by: Kosuke Takeuchi Co-authored-by: Taekjin LEE Co-authored-by: SakodaShintaro Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: iwatake Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: Takayuki Murooka Co-authored-by: danielsanchezaran Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: xtk8532704 <1041084556@qq.com> * feat: add height filter option for lanelet filter Signed-off-by: yoshiri * chore: add description in parameter Signed-off-by: yoshiri --------- Signed-off-by: Yutaka Kondo Signed-off-by: Go Sakayori Signed-off-by: Go Sakayori Signed-off-by: kosuke55 Signed-off-by: Taekjin LEE Signed-off-by: Shintaro Sakoda Signed-off-by: Zulfaqar Azmi Signed-off-by: satoshi-ota Signed-off-by: takeshi.iwanari Signed-off-by: Yuki Takagi Signed-off-by: Takayuki Murooka Signed-off-by: Daniel Sanchez Signed-off-by: Maxime CLEMENT Signed-off-by: xtk8532704 <1041084556@qq.com> Signed-off-by: Junya Sasaki Signed-off-by: mitsudome-r Signed-off-by: yoshiri Co-authored-by: Yutaka Kondo Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Co-authored-by: Go Sakayori Co-authored-by: Kosuke Takeuchi Co-authored-by: Taekjin LEE Co-authored-by: SakodaShintaro Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: iwatake Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: Takayuki Murooka Co-authored-by: danielsanchezaran Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: xtk8532704 <1041084556@qq.com> Co-authored-by: Junya Sasaki Co-authored-by: Ryohsuke Mitsudome --- .../object_lanelet_filter.param.yaml | 3 +++ .../detection/object_filter/object_lanelet_filter.param.yaml | 3 +++ .../detection/object_filter/radar_lanelet_filter.param.yaml | 3 +++ 3 files changed, 9 insertions(+) diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml index d15b2c81cf..c6b3b5538f 100644 --- a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml @@ -21,3 +21,6 @@ object_speed_threshold: 3.0 # [m/s] debug: false lanelet_extra_margin: 0.0 + use_height_threshold: false + max_height_threshold: 10.0 # [m] from the base_link height in map frame + min_height_threshold: -1.0 # [m] from the base_link height in map frame diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml index da9b694564..43844ace69 100644 --- a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml @@ -21,3 +21,6 @@ object_speed_threshold: 3.0 # [m/s] debug: false lanelet_extra_margin: 0.0 + use_height_threshold: false + max_height_threshold: 10.0 # [m] from the base_link height in map frame + min_height_threshold: -1.0 # [m] from the base_link height in map frame diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml index a784fcb8c0..e4dad86a12 100644 --- a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml @@ -21,3 +21,6 @@ object_speed_threshold: 3.0 # [m/s] debug: false lanelet_extra_margin: 0.0 + use_height_threshold: false + max_height_threshold: 10.0 # [m] from the base_link height in map frame + min_height_threshold: -1.0 # [m] from the base_link height in map frame