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feat: add vector map inside area filter (tier4#1530)
* feat: add no detection area filter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * ci(pre-commit): autofix * chore: add documents Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * pre-commit fix Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * refactor condition to launch points filter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix container name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * ci(pre-commit): autofix * chore: add visualization for no obstacle segmentation area Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * feat: allow any tags to be given by launch arguments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * chore: remove unnecessary includes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * feat: move the polygon removing function to util and use it Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * chore: move the place and change the name of node Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * chore: pre-commit fix Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * chore: remove unnecessary using Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * chore: modify container name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * chore: fix comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * chore: fix comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * chore: use output arguments for a large data Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * chore: using namespace of PolygonCgal for readability Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * feat: add functions for multiple polygons Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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.../scenario_planning/lane_driving/behavior_planning/vector_map_inside_area_filter.launch.py
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| # Copyright 2022 TIER IV, Inc. All rights reserved. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
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| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument | ||
| from launch.actions import SetLaunchConfiguration | ||
| from launch.conditions import IfCondition | ||
| from launch.conditions import UnlessCondition | ||
| from launch.substitutions import LaunchConfiguration | ||
| from launch_ros.actions import ComposableNodeContainer | ||
| from launch_ros.actions import LoadComposableNodes | ||
| from launch_ros.descriptions import ComposableNode | ||
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| def generate_launch_description(): | ||
| def add_launch_arg(name: str, default_value=None): | ||
| return DeclareLaunchArgument(name, default_value=default_value) | ||
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| set_container_executable = SetLaunchConfiguration( | ||
| "container_executable", | ||
| "component_container", | ||
| condition=UnlessCondition(LaunchConfiguration("use_multithread")), | ||
| ) | ||
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| set_container_mt_executable = SetLaunchConfiguration( | ||
| "container_executable", | ||
| "component_container_mt", | ||
| condition=IfCondition(LaunchConfiguration("use_multithread")), | ||
| ) | ||
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| composable_nodes = [ | ||
| ComposableNode( | ||
| package="pointcloud_preprocessor", | ||
| plugin="pointcloud_preprocessor::VectorMapInsideAreaFilterComponent", | ||
| name="vector_map_inside_area_filter_node", | ||
| remappings=[ | ||
| ("input", "/perception/obstacle_segmentation/pointcloud"), | ||
| ("input/vector_map", "/map/vector_map"), | ||
| ("output", "vector_map_inside_area_filtered/pointcloud"), | ||
| ], | ||
| parameters=[ | ||
| { | ||
| "polygon_type": LaunchConfiguration("polygon_type"), | ||
| } | ||
| ], | ||
| # this node has QoS of transient local | ||
| extra_arguments=[{"use_intra_process_comms": False}], | ||
| ), | ||
| ] | ||
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| vector_map_area_filter_container = ComposableNodeContainer( | ||
| name="vector_map_area_filter_container", | ||
| namespace="", | ||
| package="rclcpp_components", | ||
| executable=LaunchConfiguration("container_executable"), | ||
| composable_node_descriptions=composable_nodes, | ||
| condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")), | ||
| output="screen", | ||
| ) | ||
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| load_composable_nodes = LoadComposableNodes( | ||
| composable_node_descriptions=composable_nodes, | ||
| target_container=LaunchConfiguration("container_name"), | ||
| condition=IfCondition(LaunchConfiguration("use_pointcloud_container")), | ||
| ) | ||
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| return LaunchDescription( | ||
| [ | ||
| add_launch_arg("use_multithread", "true"), | ||
| add_launch_arg("use_pointcloud_container", "true"), | ||
| add_launch_arg("container_name", "vector_map_area_filter_container"), | ||
| set_container_executable, | ||
| set_container_mt_executable, | ||
| vector_map_area_filter_container, | ||
| load_composable_nodes, | ||
| ] | ||
| ) |
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4
...g/pointcloud_preprocessor/docs/image/vector_map_inside_area_filter_overview.svg
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39 changes: 39 additions & 0 deletions
39
sensing/pointcloud_preprocessor/docs/vector-map-inside-area-filter.md
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| # vector_map_inside_area_filter | ||
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| ## Purpose | ||
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| The `vector_map_inside_area_filter` is a node that removes points inside the vector map area that has given type by parameter. | ||
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| ## Inner-workings / Algorithms | ||
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| - 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 | ||
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|  | ||
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| ## Inputs / Outputs | ||
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| This implementation inherits `pointcloud_preprocessor::Filter` class, so please see also [README](../README.md). | ||
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| ### Input | ||
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| | 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 | | ||
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| ### Output | ||
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| | Name | Type | Description | | ||
| | ---------- | ------------------------------- | --------------- | | ||
| | `~/output` | `sensor_msgs::msg::PointCloud2` | filtered points | | ||
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| ### Core Parameters | ||
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| | Name | Type | Description | | ||
| | -------------- | ------ | --------------------------- | | ||
| | `polygon_type` | string | polygon type to be filtered | | ||
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| ## Assumptions / Known limits |
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