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

Output

Parameters

Launch file Parameters

Node Parameters

Usage

1.publish static tf from input pointcloud to target frame that is used for filtering

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

ros2 launch autoware_crop_box_filter crop_box_filter_node.launch.xml

3. launch rviz2 and AWSIM

Changelog for package autoware_crop_box_filter

1.1.0 (2025-05-01)

• feat(autoware_utils): remove managed transform buffer (#360)

  • feat(autoware_utils): remove managed transform buffer

  * fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• Contributors: Amadeusz Szymko

1.6.0 (2025-12-30)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• fix(autoware_crop_box_filter): initialize transform variables on TF acquisition failure (#750) When TF acquisition fails during initialization, the transform matrices and flags were left uninitialized, potentially leading to undefined behavior when used in pointcloud filtering. This commit ensures that when TF acquisition fails:

  • need_preprocess_transform_ and need_postprocess_transform_ are set to false

  - eigen_transform_preprocess_ and eigen_transform_postprocess_ are initialized to identity matrices This matches the behavior when frames are equal and prevents the use of uninitialized values.

• Contributors: Yutaka Kondo, github-actions

1.5.0 (2025-11-16)

• Merge remote-tracking branch 'origin/main' into humble

• feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)

  • replace ament_auto_package to autoware_ament_auto_package

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• test: add unit tests and integration test for crop box filter (#618)

  • refactor(crop_box_filter): extract helper function from test
  • test(crop_box_filter): improve point comparison logic and update test cases
  • test(crop_box_filter): add tests for filter logic with negative=false
  • test(crop_box_filter): add test for filtering with zero input points
  • test(crop_box_filter): refactor tests to use helper function and parameter struct
  • test(crop_box_filter): add integration tests for tf
  • test(crop_box_filter): apply clang format and linter
  • test(crop_box_filter): remove comments
  • test(crop_box_filter): update comments indent
  • style(crop_box_filter): improve comment clarity in integration test

  * style(pre-commit): autofix ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• chore: bump version (1.4.0) and update changelog (#608)

• Contributors: Mete Fatih Cırıt, Takahisa Ishikawa, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

• chore: bump version to 1.3.0 (#554)
• Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

• fix: to be consistent version in all package.xml(s)

• chore: bump up version to 1.1.0 (#462) (#464)

• fix(autoware_crop_box_filter): fix deprecated autoware_utils header (#418)

  • fix autoware_utils header

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