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detected_objects_visualizer 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

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Package Summary

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

Repository Summary

Description autoware src learn and recode.
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
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Visualization package for DetectedObjectArray

Additional Links

No additional links.

Maintainers

  • amc

Authors

No additional authors.
autoware/visualization/detected_objects_visualizer/README.md

Detected Object Visualizer

This node interprets the output of each of the perception nodes and creates the corresponding rviz visualization.

Parameters

Launch file available parameters:

Parameter Type Description
marker_display_duration Double Time in ms to display the marker. Default 0.1.
object_speed_threshold Double Speed threshold to display. Default 0.1.
arrow_speed_threshold Double Arrow speed threshold to display. Default 0.25.
label_color Array Four double values (RGBA), representing the color of the object. Default [255,255,255,1].
arrow_color Array Four double values (RGBA), representing the color of the object. Default [0,255,0,1,0.8].
hull_color Array Four double values (RGBA), representing the color of the object. Default [51,204,51,0.8].
box_color Array Four double values (RGBA), representing the color of the object. Default [51,128,204,0.8].
centroid_color Array Four double values (RGBA), representing the color of the object. Default [77,121,255,0.8].

Subscribed topics

Topic Type Objective
ROS_NAMESPACE/objects autoware_msgs/DetectedObjectArray Objects Array topic to visualize

Published topics

Topic Type Objective
ROS_NAMESPACE/objects_markers visualization_msgs::MarkerArray A Label indicating the class and info of the object

The message includes each of the following namespaces:

Namespace Objective
ROS_NAMESPACE/objects_arrows An arrow indicating the direction (Marker::ARROW)
ROS_NAMESPACE/objects_hulls Convex Hull, the containing polygon (Marker::LINE_STRIP)
ROS_NAMESPACE/objects_boxes Bounding box containing the object (Marker::CUBE)
ROS_NAMESPACE/objects_centroids Sphere representing the centroid of the object in space (Marker::SPHERE)
ROS_NAMESPACE/objects_mdoels Model representing the object in space (Marker::MESH_RESOURCE)

Notes

This node is already included in the perception nodes’ launch file.

If you need to use it manually, be sure to add the ROS_NAMESPACE if using rosrun.

For launch files, add the following line to your launch file:

<node pkg="detected_objects_visualizer" type="visualize_detected_objects" name="AN_INSTANCENAME_01"
          output="screen" ns="ROS_NAMESPACE"/>

i.e. to visualize the output of the lidar tracker use ROS_NAMESPACE=/detection/lidar_tracker in rosrun or ns="/detection/lidar_tracker" in the launch file.

CHANGELOG

Changelog for package detected_objects_visualizer

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
    • Fixed launch file link on rtm
    • display boxes when pose is reliable
  • Contributors: Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

  • 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
  • change package name to detected_objects_visualizer
  • Contributors: Esteve Fernandez, Yukihiro SAITO

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
autoware_build_flags
catkin
autoware_msgs
cv_bridge
geometry_msgs
image_transport
pcl_ros
roscpp
sensor_msgs
std_msgs
tf
visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged detected_objects_visualizer at Robotics Stack Exchange

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