Eval Boxes Preprocessing – nuScenes


The block is used to perform preprocessing on the eval boxes either for the detection or tracking evaluation. First, add the distance between the boxes to the ego vehicle. Second, filter the boxes according to the calculated distance, number of lidar/radar points in the boxes, and either the object is a bicycle in the racks or not.

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Version 0.2.0-x86_64
Input ports
  • Input Eval Boxes (nuscenes_msgs/EvalBoxes) - The input eval boxes before the preprocessing operation
  • Transforms (nuscenes_msgs/TF) - The transforms which are used for calculating the distance of the boxes to the ego vehicle. The distance is calculated using the information, supported by the message, of the ego distance to the global frame at the lidar capturing instant.
Output Ports
  • Filtered Eval Boxes (nuscenes_msgs/EvalBoxes) - The filtered eval boxes after the preprocessing operation
  • Configuration File Path - This is the path of the configuration file of the evaluation process. It can be either for detection or tracking evaluation. You can either provide your custom configuration file or choose the ones supported by the nuScenes package by letting the field empty.
  • Evaluation Type - The type of the evaluation process which uses these boxes.
References None


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