vector_map_inside_area_filter

Purpose

The vector_map_inside_area_filter is a node that removes points inside the vector map area that has given type by parameter.

Inner-workings / Algorithms

• Get the vector map area that has given type by parameter of polygon_type
• Extract the vector map area that intersects with the bounding box of input points to reduce the calculation cost
• Create the 2D polygon from the extracted vector map area
• Remove input points inside the polygon
• If the z value is used for filtering, remove points that are below the z threshold

Inputs / Outputs

This implementation inherits autoware::pointcloud_preprocessor::Filter class, so please see also README.

Input

Name	Type	Description
~/input	sensor_msgs::msg::PointCloud2	input points
~/input/vector_map	autoware_map_msgs::msg::LaneletMapBin	vector map used for filtering points

Output

Name	Type	Description
~/output	sensor_msgs::msg::PointCloud2	filtered points

Core Parameters

Name	Type	Description	Default	Range
polygon_type	string	polygon type to be filtered	no_obstacle_segmentation_area	N/A
use_z_filter	boolean	use z value for filtering	false	N/A
z_threshold	float	z threshold for filtering	0.0	N/A

Assumptions / Known limits