Tracked Objects Crop Box Filter

Tested in Ubuntu 22.04 / Humble

Purpose

Filter TrackedObjects by area, optionally removing Unknown objects.

tracked_objects_crop_box_filter

Splits a tracked objects topic into inside objects and outside objects

Core Parameters

Name	Type	Default Value	Description
~/input/objects	TrackedObjects	-	input object launch file arg
~/output/inside_objects	TrackedObjects	-	inside_output_topic launch file arg
~/output/outside_objects	TrackedObjects	-	outside_output_topic
filter_unknown	bool	false	completely filter UNKNOWN class objects
min_x	double	-300.0	x-coordinate minimum value for crop range
max_x	double	300.0	x-coordinate maximum value for crop range
min_y	double	-300.0	y-coordinate minimum value for crop range
max_y	double	300.0	y-coordinate maximum value for crop range
min_z	double	-300.0	z-coordinate minimum value for crop range
max_z	double	300.0	z-coordinate maximum value for crop range

Usage

ros2 launch crop_box_filter tracked_object_crop_box_filter.launch.xml input_topic:=/input/tracked_objects inside_output_topic:=/output/inside outside_output_topic:=/output/outside