H LIDAR detection
Ebben a wiki bejegyzésben az egyszerű elekerüléses feladat LIDAR detektálójának kimeneti topicjait írjuk le.
A LIDAR alapú detektálásnál a klaszterező (eucledian_cluster_detect) két fontos topicot hírdet:
-
/detection/lidar_detector/objectstopic, melynek típusa:autoware_msgs/DetectedObjectArray -
/detection/lidar_detector/objects_markerstopic, melynek típusa:visualization_msgs/MarkerArray: ebben a topicban külön namespace-el szerepelnek a objektumok középpontjai (kék gömb az animáción), meg a lidartól való távolságuk (fehér text az animáción), illetve a befoglaló poligon (zöld poligonok az animáción)
std_msgs/Header header
uint32 seq
time stamp
string frame_id
autoware_msgs/DetectedObject[] objects
std_msgs/Header header
uint32 seq
time stamp
string frame_id
uint32 id
string label
float32 score
std_msgs/ColorRGBA color
float32 r
float32 g
float32 b
float32 a
bool valid
string space_frame
geometry_msgs/Pose pose
geometry_msgs/Point position
float64 x
float64 y
float64 z
geometry_msgs/Quaternion orientation
float64 x
float64 y
float64 z
float64 w
geometry_msgs/Vector3 dimensions
float64 x
float64 y
float64 z
geometry_msgs/Vector3 variance
float64 x
float64 y
float64 z
geometry_msgs/Twist velocity
geometry_msgs/Vector3 linear
float64 x
float64 y
float64 z
geometry_msgs/Vector3 angular
float64 x
float64 y
float64 z
geometry_msgs/Twist acceleration
geometry_msgs/Vector3 linear
float64 x
float64 y
float64 z
geometry_msgs/Vector3 angular
float64 x
float64 y
float64 z
sensor_msgs/PointCloud2 pointcloud
std_msgs/Header header
uint32 seq
time stamp
string frame_id
uint32 height
uint32 width
sensor_msgs/PointField[] fields
uint8 INT8=1
uint8 UINT8=2
uint8 INT16=3
uint8 UINT16=4
uint8 INT32=5
uint8 UINT32=6
uint8 FLOAT32=7
uint8 FLOAT64=8
string name
uint32 offset
uint8 datatype
uint32 count
bool is_bigendian
uint32 point_step
uint32 row_step
uint8[] data
bool is_dense
geometry_msgs/PolygonStamped convex_hull
std_msgs/Header header
uint32 seq
time stamp
string frame_id
geometry_msgs/Polygon polygon
geometry_msgs/Point32[] points
float32 x
float32 y
float32 z
autoware_msgs/LaneArray candidate_trajectories
int32 id
autoware_msgs/Lane[] lanes
std_msgs/Header header
uint32 seq
time stamp
string frame_id
int32 increment
int32 lane_id
autoware_msgs/Waypoint[] waypoints
int32 gid
int32 lid
geometry_msgs/PoseStamped pose
std_msgs/Header header
uint32 seq
time stamp
string frame_id
geometry_msgs/Pose pose
geometry_msgs/Point position
float64 x
float64 y
float64 z
geometry_msgs/Quaternion orientation
float64 x
float64 y
float64 z
float64 w
geometry_msgs/TwistStamped twist
std_msgs/Header header
uint32 seq
time stamp
string frame_id
geometry_msgs/Twist twist
geometry_msgs/Vector3 linear
float64 x
float64 y
float64 z
geometry_msgs/Vector3 angular
float64 x
float64 y
float64 z
autoware_msgs/DTLane dtlane
float64 dist
float64 dir
float64 apara
float64 r
float64 slope
float64 cant
float64 lw
float64 rw
int32 change_flag
autoware_msgs/WaypointState wpstate
uint8 NULLSTATE=0
uint8 STR_LEFT=1
uint8 STR_RIGHT=2
uint8 STR_STRAIGHT=3
uint8 STR_BACK=4
uint8 TYPE_STOPLINE=1
uint8 TYPE_STOP=2
uint8 TYPE_EVENT_NULL=0
uint8 TYPE_EVENT_GOAL=1
uint8 TYPE_EVENT_MIDDLE_GOAL=2
uint8 TYPE_EVENT_POSITION_STOP=3
uint8 TYPE_EVENT_BUS_STOP=4
uint8 TYPE_EVENT_PARKING=5
int32 aid
uint8 lanechange_state
uint8 steering_state
uint8 accel_state
uint8 stop_state
uint8 event_state
uint32 lane_id
uint32 left_lane_id
uint32 right_lane_id
uint32 stop_line_id
float32 cost
float32 time_cost
uint32 direction
uint32 lane_index
float32 cost
float32 closest_object_distance
float32 closest_object_velocity
bool is_blocked
bool pose_reliable
bool velocity_reliable
bool acceleration_reliable
string image_frame
int32 x
int32 y
int32 width
int32 height
float32 angle
sensor_msgs/Image roi_image
std_msgs/Header header
uint32 seq
time stamp
string frame_id
uint32 height
uint32 width
string encoding
uint8 is_bigendian
uint32 step
uint8[] data
uint8 indicator_state
uint8 behavior_state
string[] user_defined_info
visualization_msgs/Marker[] markers
uint8 ARROW=0
uint8 CUBE=1
uint8 SPHERE=2
uint8 CYLINDER=3
uint8 LINE_STRIP=4
uint8 LINE_LIST=5
uint8 CUBE_LIST=6
uint8 SPHERE_LIST=7
uint8 POINTS=8
uint8 TEXT_VIEW_FACING=9
uint8 MESH_RESOURCE=10
uint8 TRIANGLE_LIST=11
uint8 ADD=0
uint8 MODIFY=0
uint8 DELETE=2
uint8 DELETEALL=3
std_msgs/Header header
uint32 seq
time stamp
string frame_id
string ns
int32 id
int32 type
int32 action
geometry_msgs/Pose pose
geometry_msgs/Point position
float64 x
float64 y
float64 z
geometry_msgs/Quaternion orientation
float64 x
float64 y
float64 z
float64 w
geometry_msgs/Vector3 scale
float64 x
float64 y
float64 z
std_msgs/ColorRGBA color
float32 r
float32 g
float32 b
float32 a
duration lifetime
bool frame_locked
geometry_msgs/Point[] points
float64 x
float64 y
float64 z
std_msgs/ColorRGBA[] colors
float32 r
float32 g
float32 b
float32 a
string text
string mesh_resource
bool mesh_use_embedded_materialsheader:
seq: 61946
stamp:
secs: 1622537697
nsecs: 501269730
frame_id: "right_os1/os1_lidar"
objects:
-
header:
seq: 62448
stamp:
secs: 1622537697
nsecs: 501269730
frame_id: "right_os1/os1_lidar"
id: 0
label: "unknown"
score: 1.0
color:
r: 0.0
g: 0.0
b: 0.0
a: 0.0
valid: True
space_frame: "right_os1/os1_lidar"
pose:
position:
x: 16.2884979248
y: 4.96796655655
z: -0.807406663895
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
dimensions:
x: 1.27664756775
y: 0.933905601501
z: 0.715550899506
variance:
x: 0.0
y: 0.0
z: 0.0
velocity:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
acceleration:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
pointcloud:
header:
seq: 62448
stamp:
secs: 1622537697
nsecs: 501269730
frame_id: "right_os1/os1_lidar"
height: 1
width: 14
fields:
-
name: "x"
offset: 0
datatype: 7
count: 1
-
name: "y"
offset: 4
datatype: 7
count: 1
-
name: "z"
offset: 8
datatype: 7
count: 1
-
name: "rgb"
offset: 16
datatype: 7
count: 1
is_bigendian: False
point_step: 32
row_step: 448
data: [136, 116, 129, 65, 35, 187, 166, 64, 22, 129, ... <- hosszú -> ... 103, 122, 65, 221, 39, 162, 64, 176, 36, 149, 191, 0, 0, 128, 63, 187, 81, 151, 255, 127, 0, 0, 0, 0, 144, 231, 3, 2, 0, 0, 0]
is_dense: True
convex_hull:
header:
seq: 62448
stamp:
secs: 1622537697
nsecs: 501269730
frame_id: "right_os1/os1_sensor"
polygon:
points:
-
x: 16.9268226624
y: 4.54669570923
z: -1.16518211365
-
x: 16.2047786713
y: 5.4349193573
z: -1.16518211365
-
x: 15.6501750946
y: 5.0673661232
z: -1.16518211365
-
x: 16.6249084473
y: 4.5010137558
z: -1.16518211365
-
x: 16.6930541992
y: 4.51073884964
z: -1.16518211365
-
x: 16.9268226624
y: 4.54669570923
z: -1.16518211365
candidate_trajectories:
id: 0
lanes: []
pose_reliable: False
velocity_reliable: False
acceleration_reliable: False
image_frame: ''
x: 0
y: 0
width: 0
height: 0
angle: 0.0
roi_image:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
height: 0
width: 0
encoding: ''
is_bigendian: 0
step: 0
data: []
indicator_state: 0
behavior_state: 0
user_defined_info: []
-
header:
seq: 62448
stamp:
secs: 1622537697
nsecs: 501269730
frame_id: "right_os1/os1_lidar"
id: 0
label: "unknown"
score: 1.0
color:
r: 0.0
g: 0.0
b: 0.0
a: 0.0
valid: True
space_frame: "right_os1/os1_lidar"
pose:
position:
x: -2.10847187042
y: -4.32671737671
z: -0.820603609085
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
dimensions:
x: 2.53639912605
y: 5.82645893097
z: 0.958348274231
variance:
x: 0.0
y: 0.0
z: 0.0
velocity:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
acceleration:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
pointcloud:
header:
seq: 62448
stamp:
secs: 1622537697
nsecs: 501269730
frame_id: "right_os1/os1_lidar"
height: 1
width: 828
fields:
-
name: "x"
offset: 0
datatype: 7
count: 1
-
name: "y"
offset: 4
datatype: 7
count: 1
-
name: "z"
offset: 8
datatype: 7
count: 1
-
name: "rgb"
offset: 16
datatype: 7
count: 1
is_bigendian: False
point_step: 32
row_step: 26496
data: [21, 28, 87, 191, 44, 29, 228, ... <- hosszú -> ... 127, 0, 0, 0, 0, 144, 231, 3, 2, 0, 0, 0]
is_dense: True
convex_hull:
header:
seq: 62448
stamp:
secs: 1622537697
nsecs: 501269730
frame_id: "right_os1/os1_sensor"
polygon:
points:
-
x: -0.840272247791
y: -7.1285610199
z: -1.2997777462
-
x: -1.59819984436
y: -1.91646587849
z: -1.2997777462
-
x: -1.61629629135
y: -1.79461312294
z: -1.2997777462
-
x: -1.71442615986
y: -1.64792513847
z: -1.2997777462
-
x: -1.75191152096
y: -1.60022485256
z: -1.2997777462
-
x: -1.79646360874
y: -1.56179749966
z: -1.2997777462
-
x: -1.82283127308
y: -1.54585587978
z: -1.2997777462
-
x: -2.65472269058
y: -1.43099975586
z: -1.2997777462
-
x: -2.78368902206
y: -1.41348803043
z: -1.2997777462
-
x: -2.82761144638
y: -1.43276274204
z: -1.2997777462
-
x: -2.99814248085
y: -1.52582645416
z: -1.2997777462
-
x: -3.17892980576
y: -2.44736456871
z: -1.2997777462
-
x: -3.37667131424
y: -7.23994684219
z: -1.2997777462
-
x: -1.3063492775
y: -7.23261976242
z: -1.2997777462
-
x: -0.939049243927
y: -7.22048187256
z: -1.2997777462
-
x: -0.840272247791
y: -7.1285610199
z: -1.2997777462
candidate_trajectories:
id: 0
lanes: []
pose_reliable: False
velocity_reliable: False
acceleration_reliable: False
image_frame: ''
x: 0
y: 0
width: 0
height: 0
angle: 0.0
roi_image:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
height: 0
width: 0
encoding: ''
is_bigendian: 0
step: 0
data: []
indicator_state: 0
behavior_state: 0
user_defined_info: []
---
markers:
-
header:
seq: 61946
stamp:
secs: 1622537697
nsecs: 501269730
frame_id: "right_os1/os1_lidar"
ns: "/detection/lidar_detector/label_markers"
id: 0
type: 9 ### távolásg TEXT_VIEW_FACING
action: 0
pose:
position:
x: 16.2884979248
y: 4.96796655655
z: 1.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0
scale:
x: 1.5
y: 1.5
z: 1.0
color:
r: 0.392156869173
g: 0.392156869173
b: 0.392156869173
a: 1.0
lifetime:
secs: 0
nsecs: 200000000
frame_locked: False
points: []
colors: []
text: "17.0 m"
mesh_resource: ''
mesh_use_embedded_materials: False
-
header:
seq: 61946
stamp:
secs: 1622537697
nsecs: 501269730
frame_id: "right_os1/os1_lidar"
ns: "/detection/lidar_detector/hull_markers"
id: 21
type: 4 ### poligon LINE_STRIP
action: 0
pose:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0
scale:
x: 0.2
y: 0.0
z: 0.0
color:
r: 0.20000000298
g: 0.800000011921
b: 0.20000000298
a: 0.800000011921
lifetime:
secs: 0
nsecs: 200000000
frame_locked: False
points:
-
x: 16.9268226624
y: 4.54669570923
z: -1.16518211365
-
x: 16.2047786713
y: 5.4349193573
z: -1.16518211365
-
x: 15.6501750946
y: 5.0673661232
z: -1.16518211365
-
x: 16.6249084473
y: 4.5010137558
z: -1.16518211365
-
x: 16.6930541992
y: 4.51073884964
z: -1.16518211365
-
x: 16.9268226624
y: 4.54669570923
z: -1.16518211365
colors: []
text: ''
mesh_resource: ''
mesh_use_embedded_materials: False
-
header:
seq: 61946
stamp:
secs: 1622537697
nsecs: 501269730
frame_id: "right_os1/os1_lidar"
ns: "/detection/lidar_detector/centroid_markers"
id: 62
type: 2 # középpont SPHERE
action: 0
pose:
position:
x: 7.13503932953
y: 6.89101028442
z: -1.22008383274
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
scale:
x: 0.5
y: 0.5
z: 0.5
color:
r: 0.301960796118
g: 0.474509805441
b: 1.0
a: 0.800000011921
lifetime:
secs: 0
nsecs: 200000000
frame_locked: False
points: []
colors: []
text: ''
mesh_resource: ''
mesh_use_embedded_materials: False
---