How to interpret fields in the autoware_msgs/DetectedObjetArray

asked 2020-01-22 14:41:58 -0500

vladyslav_f gravatar image

I am using lidar_point_pillars package in ros-melodic for vehicle detection in my point clouds. Point_pillars returns some objects in the DetectedObjectArray format. There are several fields, which should describe detected objects. As far as I understood, field "position" shows the center or the corner point of the object; "orientation" shows quaternions for the transition from some coordinates systems to another (from world coordinates to lidar's one, or vice versa). Also one can find "dimensions" - probably length of the bounding box for the detected objects. However, when I'm trying to plot my point cloud and color points inside this point cloud into another color - I am failing to detect any vehicle. Unfortunately, I didn't find any documentation which could describe how to operate with this DetectedObject fields. In the launch file for the lidar_point_pillars I have next tf static transformation: 0 0 0 0 0 0 1

Can anyone please describe how to find a bounding box for the vehicle in my point cloud?

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