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
Inputs / Outputs#
This implementation inherits pointcloud_preprocessor::Filter class, so please see also README.
Input#
| Name | Type | Description |
|---|---|---|
~/input |
sensor_msgs::msg::PointCloud2 |
input points |
~/input/vector_map |
autoware_auto_mapping_msgs::msg::HADMapBin |
vector map used for filtering points |
Output#
| Name | Type | Description |
|---|---|---|
~/output |
sensor_msgs::msg::PointCloud2 |
filtered points |
Core Parameters#
| Name | Type | Description |
|---|---|---|
polygon_type |
string | polygon type to be filtered |