Package Summary

Tags No category tags.
Version 2.0.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AinsteinAI/ainstein_radar.git
VCS Type git
VCS Version master
Last Updated 2019-11-15
Dev Status MAINTAINED
Released RELEASED

Package Description

Filtering and data conversion utilities for radar data.

Additional Links

Maintainers

  • Nick Rotella

Authors

  • Nick Rotella
README
No README found. See repository README.
CHANGELOG

Changelog for package ainstein_radar_filters

2.0.1 (2019-11-12)

2.0.0 (2019-11-12)

  • Add K79 people tracking filter launch and params
  • Add tf2_eigen dependency to build
  • Minor, fix jsk messages dependency
  • Add bounding box output from radar tracking filter Added publication of bounding boxes for the tracked targets of the radar target tracking filter, computed to bound all targets used for a Kalman Filter update at each step. This is a sort of \"model-based clustering\" of radar data since the KF itself tracks with the aid of a simple motion model. Next, plan to add Cartesian pose+covariance output.
  • Contributors: Nick Rotella

1.1.0 (2019-10-29)

  • Minor, add radar SNR as laserscan intensities
  • Refactor pointcloud and laserscan converters Refactored the radar to pointcloud and laserscan conversion class and nodes in order to remove deprecated functionality and keep topic names consistent between them. The laserscan converter still has filtering based on the min/max angle/range parameters which should be removed and these parameters should be set from a radar sensor info message similar to camera info.
  • Minor fixes to package XML formatting Fixed the package XML file formatting and added missing content to conform to the suggested style guidelines.
  • Expose radar target array to point cloud conversion Exposed a function from ainstein_radar_filters which converts from the RadarTargetArray message type to the custom PCL point cloud type which includes radar data by making it static. This was needed for new tools which need easy access to a polar-to-cartesian function. It may make more sense to pull out such conversions and put them in utility class somewhere else. Note that the only change to CMakeLists required to expose the header from this package to any package which imports it was to add an INCLUDE_DIRS line in the catkin_Package() function of this package.
  • Add param for fixed frame to point cloud converter Add an optional fixed frame parameter for the radar target array to point cloud converted which takes in the name of the fixed frame, otherwise defaulting to map. Previously, map was hardcoded.
  • Refactor redundant radar to pointcloud class Refactored the old, redundant radar to pointcloud converter class and associated node/lets to a radar speed filter class, preserving the projected speed filtering functionality. Tested on K79 data and working with mock zero speed command, should test further with nonzero GPS speed. There is still deprecated functionality in this class for testing the radar rotated which should be removed at some point as this was only experimental.
  • Use custom PCL radar point for data converter class Switched from using the normal pcl::PointXYZ type to the custom radar specific ainstein_radar_filters::PointRadarTarget type in the radar to point cloud conversion class. Tested on radar data and verified that it allows coloring clouds according to additional radar-specific fields eg range, speed, etc. This permits using existing point cloud-based filter node/lets to filter based on radar parameters, deprecating eg the range filter class in this repo. Also removed a debug printout from the rviz plugin class.
  • Contributors: Nick Rotella

1.0.3 (2019-10-03)

  • Minor bug fix in tracking filter update Fixed a small bug in the Kalman Filter state covariance update equation which had an extra transpose in it. This likely didn\'t affect filter performance noticeably because it only affected off-diagonal elements.
  • Contributors: Nick Rotella

1.0.2 (2019-09-25)

1.0.1 (2019-09-24)

  • Refactor filters into separate subpkg, fix bug Created subpackage ainstein_radar_filters for radar filters and conversions, moved all filters from ainstein_radar_drivers into this subpkg and tested build and launch on rosbag data. Also fixed a small bug in the radar data range filter in which the dynamic reconfigure callback was not being registered, preventing the filter from working. Now, the filter compiles and works properly.
  • Contributors: Nick Rotella

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged ainstein_radar_filters at answers.ros.org

Package Summary

Tags No category tags.
Version 2.0.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AinsteinAI/ainstein_radar.git
VCS Type git
VCS Version master
Last Updated 2019-11-15
Dev Status MAINTAINED
Released RELEASED

Package Description

Filtering and data conversion utilities for radar data.

Additional Links

Maintainers

  • Nick Rotella

Authors

  • Nick Rotella
README
No README found. See repository README.
CHANGELOG

Changelog for package ainstein_radar_filters

2.0.1 (2019-11-12)

2.0.0 (2019-11-12)

  • Add K79 people tracking filter launch and params
  • Add tf2_eigen dependency to build
  • Minor, fix jsk messages dependency
  • Add bounding box output from radar tracking filter Added publication of bounding boxes for the tracked targets of the radar target tracking filter, computed to bound all targets used for a Kalman Filter update at each step. This is a sort of \"model-based clustering\" of radar data since the KF itself tracks with the aid of a simple motion model. Next, plan to add Cartesian pose+covariance output.
  • Contributors: Nick Rotella

1.1.0 (2019-10-29)

  • Minor, add radar SNR as laserscan intensities
  • Refactor pointcloud and laserscan converters Refactored the radar to pointcloud and laserscan conversion class and nodes in order to remove deprecated functionality and keep topic names consistent between them. The laserscan converter still has filtering based on the min/max angle/range parameters which should be removed and these parameters should be set from a radar sensor info message similar to camera info.
  • Minor fixes to package XML formatting Fixed the package XML file formatting and added missing content to conform to the suggested style guidelines.
  • Expose radar target array to point cloud conversion Exposed a function from ainstein_radar_filters which converts from the RadarTargetArray message type to the custom PCL point cloud type which includes radar data by making it static. This was needed for new tools which need easy access to a polar-to-cartesian function. It may make more sense to pull out such conversions and put them in utility class somewhere else. Note that the only change to CMakeLists required to expose the header from this package to any package which imports it was to add an INCLUDE_DIRS line in the catkin_Package() function of this package.
  • Add param for fixed frame to point cloud converter Add an optional fixed frame parameter for the radar target array to point cloud converted which takes in the name of the fixed frame, otherwise defaulting to map. Previously, map was hardcoded.
  • Refactor redundant radar to pointcloud class Refactored the old, redundant radar to pointcloud converter class and associated node/lets to a radar speed filter class, preserving the projected speed filtering functionality. Tested on K79 data and working with mock zero speed command, should test further with nonzero GPS speed. There is still deprecated functionality in this class for testing the radar rotated which should be removed at some point as this was only experimental.
  • Use custom PCL radar point for data converter class Switched from using the normal pcl::PointXYZ type to the custom radar specific ainstein_radar_filters::PointRadarTarget type in the radar to point cloud conversion class. Tested on radar data and verified that it allows coloring clouds according to additional radar-specific fields eg range, speed, etc. This permits using existing point cloud-based filter node/lets to filter based on radar parameters, deprecating eg the range filter class in this repo. Also removed a debug printout from the rviz plugin class.
  • Contributors: Nick Rotella

1.0.3 (2019-10-03)

  • Minor bug fix in tracking filter update Fixed a small bug in the Kalman Filter state covariance update equation which had an extra transpose in it. This likely didn\'t affect filter performance noticeably because it only affected off-diagonal elements.
  • Contributors: Nick Rotella

1.0.2 (2019-09-25)

1.0.1 (2019-09-24)

  • Refactor filters into separate subpkg, fix bug Created subpackage ainstein_radar_filters for radar filters and conversions, moved all filters from ainstein_radar_drivers into this subpkg and tested build and launch on rosbag data. Also fixed a small bug in the radar data range filter in which the dynamic reconfigure callback was not being registered, preventing the filter from working. Now, the filter compiles and works properly.
  • Contributors: Nick Rotella

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged ainstein_radar_filters at answers.ros.org