crop_box_filter#
Purpose#
The crop_box_filter is a node that removes points with in a given box region. This filter is used to remove the points that hit the vehicle itself.
Inner-workings / Algorithms#
pcl::CropBox is used, which filters all points inside a given box.
Inputs / Outputs#
This implementation inherit autoware::pointcloud_preprocessor::Filter class, please refer README.
Parameters#
Node Parameters#
This implementation inherit autoware::pointcloud_preprocessor::Filter class, please refer README.
Core Parameters#
| Name | Type | Description | Default | Range |
|---|---|---|---|---|
| min_x | float | minimum x-coordinate value for crop range in meters | -1.0 | N/A |
| min_y | float | minimum y-coordinate value for crop range in meters | -1.0 | N/A |
| min_z | float | minimum z-coordinate value for crop range in meters | -1.0 | N/A |
| max_x | float | maximum x-coordinate value for crop range in meters | 1.0 | N/A |
| max_y | float | maximum y-coordinate value for crop range in meters | 1.0 | N/A |
| max_z | float | maximum z-coordinate value for crop range in meters | 1.0 | N/A |
| negative | boolean | if true, remove points within the box from the pointcloud; otherwise, remove points outside the box. | false | N/A |