No version for distro humble showing github. Known supported distros are highlighted in the buttons above.

range_vision_fusion package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	1.12.0
License	Apache 2
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Description	autoware.ai perf
Checkout URI	https://github.com/is-whale/autoware_learn.git
VCS Type	git
VCS Version	1.14
Last Updated	2025-03-14
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Range-Vision fusion node

Additional Links

No additional links.

Maintainers

Abraham Monrroy

Authors

No additional authors.

autoware/core_perception/range_vision_fusion/README.md

Range Vision Fusion

The Range Vision Fusion node will try match the objects detected on a range sensor, with the ones obtained from a vision detector. A match will be considered found if the 3D projection of the object overlaps at least 50% (configurable) over the 2D object detection. The label from the 2D Image detector will be attached to the corresponding 3D Object. All the matched results will be published.

Requirements

Input Topics

Camera intrinsics (sensor_msgs/CameraInfo)
Camera-LiDAR extrinsics (tf)
Object Detections results from a Vision Detector (autoware_msgs/DetectedObjectArray)
Object Detections results from a Range Detector (autoware_msgs/DetectedObjectArray)

Output Topics

Fused Detected Objects (autoware_msgs/DetectedObjectArray) on the /detection/fusion_tools/objects topic.

Parameters

Launch file available parameters:

Parameter	Type	Description	Default
`detected_objects_range`	String	Name of the `DetectedObjectArray` topic to subscribe containing the detections on 3D space.	`/detection/lidar_objects`
`detected_objects_vision`	String	Name of the `DetectedObjectArray` topic to subscribe containing the detections on 2D space.	`/detection/vision_objects`
`camera_info_src`	String	Name of the CameraInfo topic that contains the intrinsic matrix for the Image.	`/camera_info`
`sync_topics`	Bool	Sync detection topics.	`false`
`min_car_dimensions`	Array	Sets the minimum dimensions for a car bounding box(width, height, depth) in meters.	`[2,2,4]`
`min_person_dimensions`	Array	Sets the minimum dimensions for a person bounding box (width, height, depth) in meters.	`[1,2,1]`
`min_truck_dimensions`	Array	Sets the minimum dimensions for a truck/bus bounding box (width, height, depth) in meters.	`[2,2,4.5]`
`overlap_threshold`	float	A number between 0.1 and 1.0 representing the area of overlap between the detections.	`0.5`

Example of usage

Launch a ground filter algorithm from the Points Preprocessor in the Sensing tab. (adjust the parameters to your vehicle setup).
Launch Calibration Publisher with the intrinsic and extrinsic calibration between the camera and the range sensor.
Launch a Vision Detector from the Computing tab (this should be publishing by default /detectoion/vision_objects).
Launch a Lidar Detector from the Computing tab (this should be publishing by default /detectoion/lidar_objects).
Launch this node.
Launch rviz, and add the topics shown above in the Output section.

Notes

Detection on Image space should be performed on a Rectified Image, otherwise projection will be incorrect.
The names of the classes are defined as in the COCO dataset.

CHANGELOG

Changelog for package range_vision_fusion

1.11.0 (2019-03-21)

[fix] Install commands for all the packages (#1861)
- Initial fixes to detection, sensing, semantics and utils
- fixing wrong filename on install command
- Fixes to install commands
- Hokuyo fix name
- Fix obj db
- Obj db include fixes
- End of final cleaning sweep
- Incorrect command order in runtime manager
- Param tempfile not required by runtime_manager
- - Fixes to runtime manager install commands
- Remove devel directory from catkin, if any
- Updated launch files for robosense
- Updated robosense
- Fix/add missing install (#1977)
- Added launch install to lidar_kf_contour_track
- Added install to op_global_planner
- Added install to way_planner
- Added install to op_local_planner
- Added install to op_simulation_package
- Added install to op_utilities
- Added install to sync
- - Improved installation script for pointgrey packages
- Fixed nodelet error for gmsl cameras
- USe install space in catkin as well
- add install to catkin
- Fix install directives (#1990)
- Fixed installation path
- Fixed params installation path
- Fixed cfg installation path
- Delete cache on colcon_release
Fix license notice in corresponding package.xml
Adaptation of Object Filter with new perception workflow
Initial release of object filter
Contributors: Abraham Monrroy, Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

Fixes for catkin_make
Switch to Apache 2 license (develop branch) (#1741)
- Switch to Apache 2
* Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.
- Update license on Python files
- Update copyright years
- Add #ifndef/define _POINTS_IMAGE_H_
- Updated license comment
Use colcon as the build tool (#1704)
- Switch to colcon as the build tool instead of catkin
- Added cmake-target
- Added note about the second colcon call
- Added warning about catkin* scripts being deprecated
- Fix COLCON_OPTS
- Added install targets
- Update Docker image tags
- Message packages fixes
- Fix missing dependency
Feature/perception visualization cleanup (#1648)
- - Initial commit for visualization package

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_build_flags
	catkin
	autoware_msgs
	cv_bridge
	eigen_conversions
	image_geometry
	image_transport
	jsk_recognition_utils
	jsk_topic_tools
	roscpp
	sensor_msgs
	tf
	tf_conversions

System Dependencies

Name
yaml-cpp

Dependant Packages

No known dependants.

Launch files

launch/range_vision_fusion.launch
- - detected_objects_range [default: /detection/lidar_detector/objects]
  - detected_objects_vision [default: /detection/image_detector/objects]
  - camera_info_src [default: /camera_info]
  - min_car_dimensions [default: [3,2,2]]
  - min_person_dimensions [default: [1,2,1]]
  - min_truck_dimensions [default: [4,2,2]]
  - sync_topics [default: false]
  - overlap_threshold [default: 0.6]
  - use_vector_map [default: false]
  - namespace [default: /detection/fusion_tools]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `range_vision_fusion` at Robotics Stack Exchange

API Docs Browse Code

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.