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‎sensing/autoware_crop_box_filter/CMakeLists.txt

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@@ -34,5 +34,3 @@ ament_auto_package(INSTALL_TO_SHARE
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config
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test
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)
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‎sensing/autoware_crop_box_filter/README.md

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@@ -12,41 +12,40 @@ The `autoware_crop_box_filter` is implemented as a autoware core node that subsc
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### Input
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| Name | Type | Description |
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| ----------------- | ------------------------------- | ----------------- |
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| `~/input/points` | `sensor_msgs::msg::PointCloud2` | reference points |
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| Name | Type | Description |
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| ---------------- | ------------------------------- | ---------------- |
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| `~/input/points` | `sensor_msgs::msg::PointCloud2` | reference points |
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### Output
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| Name | Type | Description |
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| ----------------- | ------------------------------- | --------------- |
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| `~/output/points` | `sensor_msgs::msg::PointCloud2` | filtered points |
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| Name | Type | Description |
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| -------------------- | ------------------------------------ | -------------------- |
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| `~/output/points` | `sensor_msgs::msg::PointCloud2` | filtered points |
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| `~/crop_box_polygon` | `geometry_msgs::msg::PolygonStamped` | bounding box polygon |
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## Parameters
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### Launch file Parameters
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| Name | Type | Default Value | Description |
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| ------------------ | ------ | ------------- | ------------------------------------- |
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| `input_frame` | string | " " | the frame id in which filtering is performed |
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| `output_frame` | string | " " | output frame id of the filtered points |
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| `input_pointcloud_frame` | string | " " | frame id of input pointcloud |
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| `max_queue_size` | int | 5 | max buffer size of input/output topics |
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| `crop_box_filter_param_file` | string | " " | path to the parameter file for the node |
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| Name | Type | Default Value | Description |
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| ---------------------------- | ------ | ------------- | -------------------------------------------- |
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| `input_frame` | string | " " | the frame id in which filtering is performed |
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| `output_frame` | string | " " | output frame id of the filtered points |
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| `input_pointcloud_frame` | string | " " | frame id of input pointcloud |
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| `max_queue_size` | int | 5 | max buffer size of input/output topics |
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| `crop_box_filter_param_file` | string | " " | path to the parameter file for the node |
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### Node Parameters
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| Name | Type | Default Value | Description |
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| ------------------ | ------ | ------------- | ------------------------------------- |
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| `min_x` | double | -5.0 | minimum x value of the crop box |
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| `min_y` | double | -5.0 | minimum y value of the crop box |
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| `min_z` | double | -5.0 | minimum z value of the crop box |
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| `max_x` | double | 5.0 | maximum x value of the crop box |
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| `max_y` | double | 5.0 | maximum y value of the crop box |
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| `max_z` | double | 5.0 | maximum z value of the crop box |
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| `negative` | bool | true | if true, points inside the box are removed, otherwise points outside the box are removed |
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| Name | Type | Default Value | Description |
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| ---------- | ------ | ------------- | ---------------------------------------------------------------------------------------- |
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| `min_x` | double | -5.0 | minimum x value of the crop box |
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| `min_y` | double | -5.0 | minimum y value of the crop box |
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| `min_z` | double | -5.0 | minimum z value of the crop box |
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| `max_x` | double | 5.0 | maximum x value of the crop box |
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| `max_y` | double | 5.0 | maximum y value of the crop box |
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| `max_z` | double | 5.0 | maximum z value of the crop box |
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| `negative` | bool | true | if true, points inside the box are removed, otherwise points outside the box are removed |
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## Usage
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‎sensing/autoware_crop_box_filter/include/autoware/crop_box_filter/crop_box_filter_node.hpp

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#ifndef AUTOWARE__CROP_BOX_FILTER__CROP_BOX_FILTER_NODE_HPP_
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#define AUTOWARE__CROP_BOX_FILTER__CROP_BOX_FILTER_NODE_HPP_
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#include <geometry_msgs/msg/polygon_stamped.hpp>
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#include <sensor_msgs/msg/point_cloud2.hpp>
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#include <sensor_msgs/point_cloud2_iterator.hpp>
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#include <autoware/point_types/types.hpp>
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#include <autoware_utils/ros/debug_publisher.hpp>
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#include <autoware_utils/ros/managed_transform_buffer.hpp>
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#include <autoware_utils/ros/published_time_publisher.hpp>
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#include <autoware_utils/system/stop_watch.hpp>
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#include <autoware/point_types/types.hpp>
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#include <geometry_msgs/msg/polygon_stamped.hpp>
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#include <sensor_msgs/msg/point_cloud2.hpp>
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#include <sensor_msgs/point_cloud2_iterator.hpp>
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#include <memory>
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#include <vector>
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#include <string>
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#include <utility>
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#include <vector>
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using PointCloud2 = sensor_msgs::msg::PointCloud2;
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using PointCloud2ConstPtr = sensor_msgs::msg::PointCloud2::ConstSharedPtr;
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class CropBoxFilter : public rclcpp::Node
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{
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private:
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// member variable declaration & definitions *************************************
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/** \brief The managed transform buffer. */
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std::unique_ptr<autoware_utils::PublishedTimePublisher> published_time_publisher_;
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// function declaration *************************************
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void publish_crop_box_polygon();
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void pointcloud_callback(const PointCloud2ConstPtr cloud);
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/** \brief Parameter service callback */
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rcl_interfaces::msg::SetParametersResult param_callback(const std::vector<rclcpp::Parameter> & p);
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/** \brief Return whether the input PointCloud2 data has the same layout than PointXYZI. That is to
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* say whether you can memcpy from the PointCloud2 data buffer to a PointXYZI */
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/** \brief Return whether the input PointCloud2 data has the same layout than PointXYZI. That is
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* to say whether you can memcpy from the PointCloud2 data buffer to a PointXYZI */
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bool is_data_layout_compatible_with_point_xyzi(const PointCloud2 & input);
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/** \brief Return whether the input PointCloud2 data has the same layout than PointXYZIRC. That is
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* is to say whether you can memcpy from the PointCloud2 data buffer to a PointXYZIRADRT */
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bool is_data_layout_compatible_with_point_xyziradrt(const PointCloud2 & input);
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/** \brief Return whether the input PointCloud2 data has the same layout than PointXYZIRCAEDT. That
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* is to say whether you can memcpy from the PointCloud2 data buffer to a PointXYZIRCAEDT */
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/** \brief Return whether the input PointCloud2 data has the same layout than PointXYZIRCAEDT.
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* That is to say whether you can memcpy from the PointCloud2 data buffer to a PointXYZIRCAEDT */
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bool is_data_layout_compatible_with_point_xyzircaedt(const PointCloud2 & input);
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bool is_valid(const PointCloud2ConstPtr & cloud);
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}
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return false;
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}
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public:
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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explicit CropBoxFilter(const rclcpp::NodeOptions & options);
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void pointcloud_filter(const PointCloud2ConstPtr & cloud, PointCloud2 & output);
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void filter_pointcloud(const PointCloud2ConstPtr & cloud, PointCloud2 & output);
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};
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} // namespace autoware::crop_box_filter
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‎sensing/autoware_crop_box_filter/package.xml

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<maintainer email="lxg19892021@gmail.com">Xingang Liu</maintainer>
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<license>Apache License 2.0</license>
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<!-- Original authors -->
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<author>Open Perception</author>
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<author email="julius@kammerl.de">Julius Kammerl</author>
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<depend>autoware_point_types</depend>
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<depend>autoware_utils</depend>
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<depend>geometry_msgs</depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_components</depend>
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<depend>sensor_msgs</depend>
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<depend>geometry_msgs</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>autoware_lint_common</test_depend>

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