autoware.universe源码略读(3.16)--perception:object_range_splitter
autoware.universe源码略读3.16--perception:object_range_splitter
- Overview
- node
- (Class Constructor)ObjectRangeSplitterNode::ObjectRangeSplitterNode
- (mFunc)ObjectRangeSplitterNode::objectCallback
Overview
这里处理的依旧是检测到的对象消息,不过这里的目的是根据对象到原点的距离,把检测到的对象分成两个消息,根据输入输出我们可以看到,最后就是划分成了近距离的对象和远距离的对象两类
Name | Type | Description |
---|---|---|
output/long_range_object | autoware_auto_perception_msgs::msg::DetectedObjects | long range detected objects |
output/short_range_object | autoware_auto_perception_msgs::msg::DetectedObjects | short range detected objects |
node
(Class Constructor)ObjectRangeSplitterNode::ObjectRangeSplitterNode
非常朴素的一个节点类,甚至没什么好说的
(mFunc)ObjectRangeSplitterNode::objectCallback
检测物体的回调函数,其实就是根据xy坐标算了个距离,然后根据阈值分割成了两部分了,也非常简单
// split
for (const auto & object : input_msg->objects) {const auto & position = object.kinematics.pose_with_covariance.pose.position;const auto object_sq_dist = position.x * position.x + position.y * position.y;if (object_sq_dist < spilt_range_ * spilt_range_) { // short rangeoutput_short_range_object_msg.objects.push_back(object);} else { // long rangeoutput_long_range_object_msg.objects.push_back(object);}
}
- 所以这个小模块真的好简单哈哈哈