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feat(pointcloud_preprocessor): add z filter in vector map inside #7300

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merged 4 commits into from
Jun 7, 2024

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YoshiRi
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@YoshiRi YoshiRi commented Jun 6, 2024

Description

This PR add features to VectorMapInsideAreaFilterComponent, which is used to filter pointcloud by polygon defined in lanelet map with no_obstacle_segmentation_area attribute.

This PR enables the node to use z information to filter pointcloud so that it will not remove too much pointcloud.

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Tests performed

utilities functions update is tested with gtest.

Notes for reviewers

Interface changes

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

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YoshiRi added 2 commits June 4, 2024 15:26
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
@YoshiRi YoshiRi changed the title feat(add z filter in vector map inside): feat(pointcloud_preprocessor): add z filter in vector map inside Jun 6, 2024
@github-actions github-actions bot added the component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) label Jun 6, 2024
YoshiRi added 2 commits June 6, 2024 18:25
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
@YoshiRi YoshiRi added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jun 6, 2024
@YoshiRi YoshiRi marked this pull request as ready for review June 6, 2024 09:45
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LGTM

@github-actions github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Jun 6, 2024
@YoshiRi YoshiRi merged commit 118e4bb into main Jun 7, 2024
24 of 45 checks passed
@YoshiRi YoshiRi deleted the feat/use_z_in_vector_map_inside_area_filter branch June 7, 2024 01:47
KhalilSelyan pushed a commit that referenced this pull request Jul 22, 2024
* feat: add utils to handle z height filter

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* feat: add test to utilities and fix code

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* feat: add node param to filter by z

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* docs: update readme

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

---------

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
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component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) type:documentation Creating or refining documentation. (auto-assigned)
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2 participants