autoware_crop_box_filter#
Overview#
The autoware_crop_box_filter is a package that crops the input pointcloud to a specified bounding box. This is useful for reducing the computational load and improving the performance of the system.
Design#
The autoware_crop_box_filter is implemented as a autoware core node that subscribes to the input pointcloud, and publishes the filtered pointcloud. The bounding box is specified using the min_point and max_point parameters.
Inputs / Outputs#
Input#
| Name | Type | Description |
|---|---|---|
~/input/points |
sensor_msgs::msg::PointCloud2 |
reference points |
Output#
| Name | Type | Description |
|---|---|---|
~/output/points |
sensor_msgs::msg::PointCloud2 |
filtered points |
~/crop_box_polygon |
geometry_msgs::msg::PolygonStamped |
bounding box polygon |
Parameters#
Launch file Parameters#
| Name | Type | Default Value | Description |
|---|---|---|---|
input_frame |
string | " " | the frame id in which filtering is performed |
output_frame |
string | " " | output frame id of the filtered points |
input_pointcloud_frame |
string | " " | frame id of input pointcloud |
max_queue_size |
int | 5 | max buffer size of input/output topics |
crop_box_filter_param_file |
string | " " | path to the parameter file for the node |
Node Parameters#
| Name | Type | Default Value | Description |
|---|---|---|---|
min_x |
double | -5.0 | minimum x value of the crop box |
min_y |
double | -5.0 | minimum y value of the crop box |
min_z |
double | -5.0 | minimum z value of the crop box |
max_x |
double | 5.0 | maximum x value of the crop box |
max_y |
double | 5.0 | maximum y value of the crop box |
max_z |
double | 5.0 | maximum z value of the crop box |
negative |
bool | true | if true, points inside the box are removed, otherwise points outside the box are removed |
Usage#
1.publish static tf from input pointcloud to target frame that is used for filtering#
cpp
ros2 run tf2_ros static_transform_publisher 2.0 3.2 1.3 0 0 0 1 velodyne_top_base_link base_link
2.launch node#
cpp
ros2 launch autoware_crop_box_filter crop_box_filter_node.launch.xml