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refactor(detected_object_validation): add an option for filtering and validation #4402
refactor(detected_object_validation): add an option for filtering and validation #4402
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...on_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
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...tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
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Signed-off-by: ismetatabay <[email protected]>
Signed-off-by: ismetatabay <[email protected]>
Signed-off-by: ismetatabay <[email protected]>
Signed-off-by: ismetatabay <[email protected]>
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Signed-off-by: ismetatabay <[email protected]>
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LGTM
@yukkysaito Hi, could you check it? Miura-san approved it 👍 |
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Thank you for your PR 👍
LGTM
Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #4402 +/- ##
==========================================
+ Coverage 14.84% 14.90% +0.06%
==========================================
Files 1521 1519 -2
Lines 105287 104788 -499
Branches 32058 31856 -202
==========================================
- Hits 15629 15623 -6
+ Misses 72588 72103 -485
+ Partials 17070 17062 -8
*This pull request uses carry forward flags. Click here to find out more.
☔ View full report in Codecov by Sentry. |
… validation (autowarefoundation#4402) * init commit Signed-off-by: ismetatabay <[email protected]> * update occupancy_grid_map path Signed-off-by: ismetatabay <[email protected]> * update argument names Signed-off-by: ismetatabay <[email protected]> * correct radar launch objects_filter_method name Signed-off-by: ismetatabay <[email protected]> * remove radar option Signed-off-by: ismetatabay <[email protected]> --------- Signed-off-by: ismetatabay <[email protected]>
Description
This PR adds an option for using
object_lanelet_filter
orobject_position_filter
as an filtering option and usingobstacle_pointcloud
oroccupancy_grid
as an validating option. Moreover, at the latest version of autoware.universe, we cannot launch occupancy_grid map for validator properly, this PR fixes this issue also.Related links
Refactoring the perception packages parameter definitions #4250
autoware_launch PR: refactor(autoware_launch): add an option for filtering and validation autoware_launch#479
Tests performed
The tests are performed in logging simulator: object_lanelet_filter, object_position_filter, obstacle_pointcloud and occupancy_grid (we need change occupancy_grid_map_method to laserscan_based_occupancy_grid_map also) mode works as expected.
Notes for reviewers
Interface changes
These PRs adds
detected_objects_filter_method
anddetected_objects_validation_method
arguments to perception component launches.Effects on system behavior
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In-review checklist for the PR reviewers
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Post-review checklist for the PR author
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