autoware::off_map_obstacles_filter Namespace Reference

A namespace for the temporary off-map obstacles filter. More...

Classes
class	OffMapObstaclesFilter
	Class to filter out bounding boxes that are not on the map. More...

Typedefs
using	float64_t = autoware::common::types::float64_t
using	float32_t = autoware::common::types::float32_t

Functions
static lanelet::Polygon2d	polygon_for_bbox (const Eigen::Isometry2f &map_from_base_link, const autoware_auto_msgs::msg::BoundingBox &bbox)
static Eigen::Isometry2d	convert_2d_transform (const geometry_msgs::msg::TransformStamped &tfs)
	Convert TransformStamped to Isometry2f – this assumes that the direction of the z axis is the same in the two frames. More...
static bool	bbox_is_on_map (const lanelet::LaneletMap &map, const Eigen::Isometry2f &map_from_base_link, const float64_t overlap_threshold, const autoware_auto_msgs::msg::BoundingBox &bbox)
	Checks if a bbox is on the map. More...

Detailed Description

A namespace for the temporary off-map obstacles filter.

Typedef Documentation

float32_t

using autoware::off_map_obstacles_filter::float32_t = typedef autoware::common::types::float32_t

float64_t

typedef autoware::common::types::float64_t autoware::off_map_obstacles_filter::float64_t

Function Documentation

bbox_is_on_map()

static bool autoware::off_map_obstacles_filter::bbox_is_on_map ( const lanelet::LaneletMap &  map, const Eigen::Isometry2f &  map_from_base_link, const float64_t  overlap_threshold, const autoware_auto_msgs::msg::BoundingBox &  bbox  )

static

Checks if a bbox is on the map.

Parameters

map	The lanelet map, correctly transformed into the map frame.
map_from_base_link	An Isometry2d that can be used to transform Eigen Vectors.
overlap_threshold	What fraction of a bbox needs to overlap the map to be considered "on the map".
bbox	An obstacle bounding box.

convert_2d_transform()

static Eigen::Isometry2d autoware::off_map_obstacles_filter::convert_2d_transform ( const geometry_msgs::msg::TransformStamped &  tfs )

static

Convert TransformStamped to Isometry2f – this assumes that the direction of the z axis is the same in the two frames.

Parameters

tfs	A TransformStamped. Its rotation quaternion needs to be approximately 0 in x and y.

Returns

An Isometry2d that can be used to transform Eigen Vectors.

polygon_for_bbox()

static lanelet::Polygon2d autoware::off_map_obstacles_filter::polygon_for_bbox ( const Eigen::Isometry2f &  map_from_base_link, const autoware_auto_msgs::msg::BoundingBox &  bbox  )

static

Parameters

bbox	The bounding box with coordinates in the base_link frame.
map_from_base_link	The transform that transforms things from base_link to map.

Returns

A polygon with the four corners of the bounding box projected into 2D.