vector_map_filter
Purpose
The vector_map_filter is a node that removes points on the outside of lane by using vector map.
Inner-workings / Algorithms
| Name |
Type |
Description |
~/input/points |
sensor_msgs::msg::PointCloud2 |
reference points |
~/input/vector_map |
autoware_map_msgs::msg::LaneletMapBin |
vector map |
Output
| Name |
Type |
Description |
~/output/points |
sensor_msgs::msg::PointCloud2 |
filtered points |
Parameters
Core Parameters
| Name |
Type |
Description |
Default |
Range |
| voxel_size_x |
float |
voxel size along x-axis [m] |
0.04 |
≥0 |
| voxel_size_y |
float |
voxel size along y-axis [m] |
0.04 |
≥0 |
Assumptions / Known limits
(Optional) Error detection and handling
(Optional) References/External links
(Optional) Future extensions / Unimplemented parts