ROS Index
Package Summary
| Version | 1.8.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- amc-nu
- Yukihiro Saito
- Kyoichi Sugahara
- Dai Nguyen
- Kenzo Lobos-Tsunekawa
- Yihsiang Fang
- Yoshi Ri
- David Wong
- Melike Tanrikulu
- Max Schmeller
- Xingang Liu
Authors
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
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
1.8.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to sensing packages (#985) Co-authored-by: github-actions <<github-actions@github.com>>
-
fix(autoware_crop_box_filter): add optional check before accessing crop_box_filter_ (#1016)
-
refactor(crop_box_filter): simplify filter logic by using identity matrix for no-transform case (#959) refactor(autoware_crop_box_filter): simplify filter logic by using identity matrix for no-transform case Use identity matrices as default for preprocess/postprocess transforms, eliminating conditional branches in the filter loop. Pre-compute output_frame_id in the constructor to simplify frame_id resolution. Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
fix(autoware_crop_box_filter): fix bugprone-implicit-widening-of-multiplication-result warnings (#911)
-
fix(autoware_crop_box_filter): fix bugprone-narrowing-conversions warnings (#936)
-
refactor(autoware_crop_box_filter): extract CropBoxFilter logic class (#941)
- refactor(autoware_crop_box_filter): rename CropBoxFilter node class to CropBoxFilterNode
- refactor(autoware_crop_box_filter): extract CropBoxFilter logic class
- refactor(autoware_crop_box_filter): remove output_frame from CropBoxFilterConfig
* refactor(autoware_crop_box_filter): remove unnecessary member variables Convert tf_input_orig_frame_ and max_queue_size_ to local variables as they are only used in the constructor.
- test(autoware_crop_box_filter): add unit tests for preprocess and postprocess transform
- refactor(crop_box_filter): rename variable for clarity in transform handling
* refactor(crop_box_filter): simplify transform handling by removing has_value checks ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
-
fix(crop_box_filter): maybe-uninitialized build error (#909) fix(crop_box_filter): initialize CropBoxParam with default values in test Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
refactor(crop_box_filter): extract core and add unit tests (#886)
- refactor(autoware_crop_box_filter): extract CropBoxParam and generate_crop_box_polygon to core library
- test(autoware_crop_box_filter): add unit test for generate_crop_box_polygon
- refactor(autoware_crop_box_filter): extract filter_pointcloud logic to core library
- refactor(autoware_crop_box_filter): remove unnecessary includes from crop_box_filter_node.hpp
* refactor(autoware_crop_box_filter): move filter_pointcloud tests to unit test file Move filter_pointcloud() tests from test_crop_box_filter_node.cpp to test_crop_box_filter.cpp since they test core logic, not node behavior.
- refactor(autoware_crop_box_filter): apply AAA pattern and type aliases to filter_pointcloud tests
* refactor(autoware_crop_box_filter): rename negative to keep_outside_box ---------Co-authored-by: Takahisa.Ishikawa
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/crop_box_filter_node.launch.xml
-
- input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
- output_topic_name [default: /sensing/lidar/top/self_cropped/pointcloud_ex]
- input_frame [default: base_link]
- output_frame [default: base_link]
- input_pointcloud_frame [default: velodyne_top_base_link]
- crop_box_filter_param_file [default: $(find-pkg-share autoware_crop_box_filter)/config/crop_box_filter_node.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crop_box_filter at Robotics Stack Exchange
Package Summary
| Version | 1.8.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- amc-nu
- Yukihiro Saito
- Kyoichi Sugahara
- Dai Nguyen
- Kenzo Lobos-Tsunekawa
- Yihsiang Fang
- Yoshi Ri
- David Wong
- Melike Tanrikulu
- Max Schmeller
- Xingang Liu
Authors
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
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
1.8.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to sensing packages (#985) Co-authored-by: github-actions <<github-actions@github.com>>
-
fix(autoware_crop_box_filter): add optional check before accessing crop_box_filter_ (#1016)
-
refactor(crop_box_filter): simplify filter logic by using identity matrix for no-transform case (#959) refactor(autoware_crop_box_filter): simplify filter logic by using identity matrix for no-transform case Use identity matrices as default for preprocess/postprocess transforms, eliminating conditional branches in the filter loop. Pre-compute output_frame_id in the constructor to simplify frame_id resolution. Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
fix(autoware_crop_box_filter): fix bugprone-implicit-widening-of-multiplication-result warnings (#911)
-
fix(autoware_crop_box_filter): fix bugprone-narrowing-conversions warnings (#936)
-
refactor(autoware_crop_box_filter): extract CropBoxFilter logic class (#941)
- refactor(autoware_crop_box_filter): rename CropBoxFilter node class to CropBoxFilterNode
- refactor(autoware_crop_box_filter): extract CropBoxFilter logic class
- refactor(autoware_crop_box_filter): remove output_frame from CropBoxFilterConfig
* refactor(autoware_crop_box_filter): remove unnecessary member variables Convert tf_input_orig_frame_ and max_queue_size_ to local variables as they are only used in the constructor.
- test(autoware_crop_box_filter): add unit tests for preprocess and postprocess transform
- refactor(crop_box_filter): rename variable for clarity in transform handling
* refactor(crop_box_filter): simplify transform handling by removing has_value checks ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
-
fix(crop_box_filter): maybe-uninitialized build error (#909) fix(crop_box_filter): initialize CropBoxParam with default values in test Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
refactor(crop_box_filter): extract core and add unit tests (#886)
- refactor(autoware_crop_box_filter): extract CropBoxParam and generate_crop_box_polygon to core library
- test(autoware_crop_box_filter): add unit test for generate_crop_box_polygon
- refactor(autoware_crop_box_filter): extract filter_pointcloud logic to core library
- refactor(autoware_crop_box_filter): remove unnecessary includes from crop_box_filter_node.hpp
* refactor(autoware_crop_box_filter): move filter_pointcloud tests to unit test file Move filter_pointcloud() tests from test_crop_box_filter_node.cpp to test_crop_box_filter.cpp since they test core logic, not node behavior.
- refactor(autoware_crop_box_filter): apply AAA pattern and type aliases to filter_pointcloud tests
* refactor(autoware_crop_box_filter): rename negative to keep_outside_box ---------Co-authored-by: Takahisa.Ishikawa
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/crop_box_filter_node.launch.xml
-
- input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
- output_topic_name [default: /sensing/lidar/top/self_cropped/pointcloud_ex]
- input_frame [default: base_link]
- output_frame [default: base_link]
- input_pointcloud_frame [default: velodyne_top_base_link]
- crop_box_filter_param_file [default: $(find-pkg-share autoware_crop_box_filter)/config/crop_box_filter_node.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crop_box_filter at Robotics Stack Exchange
Package Summary
| Version | 1.8.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- amc-nu
- Yukihiro Saito
- Kyoichi Sugahara
- Dai Nguyen
- Kenzo Lobos-Tsunekawa
- Yihsiang Fang
- Yoshi Ri
- David Wong
- Melike Tanrikulu
- Max Schmeller
- Xingang Liu
Authors
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
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
1.8.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to sensing packages (#985) Co-authored-by: github-actions <<github-actions@github.com>>
-
fix(autoware_crop_box_filter): add optional check before accessing crop_box_filter_ (#1016)
-
refactor(crop_box_filter): simplify filter logic by using identity matrix for no-transform case (#959) refactor(autoware_crop_box_filter): simplify filter logic by using identity matrix for no-transform case Use identity matrices as default for preprocess/postprocess transforms, eliminating conditional branches in the filter loop. Pre-compute output_frame_id in the constructor to simplify frame_id resolution. Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
fix(autoware_crop_box_filter): fix bugprone-implicit-widening-of-multiplication-result warnings (#911)
-
fix(autoware_crop_box_filter): fix bugprone-narrowing-conversions warnings (#936)
-
refactor(autoware_crop_box_filter): extract CropBoxFilter logic class (#941)
- refactor(autoware_crop_box_filter): rename CropBoxFilter node class to CropBoxFilterNode
- refactor(autoware_crop_box_filter): extract CropBoxFilter logic class
- refactor(autoware_crop_box_filter): remove output_frame from CropBoxFilterConfig
* refactor(autoware_crop_box_filter): remove unnecessary member variables Convert tf_input_orig_frame_ and max_queue_size_ to local variables as they are only used in the constructor.
- test(autoware_crop_box_filter): add unit tests for preprocess and postprocess transform
- refactor(crop_box_filter): rename variable for clarity in transform handling
* refactor(crop_box_filter): simplify transform handling by removing has_value checks ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
-
fix(crop_box_filter): maybe-uninitialized build error (#909) fix(crop_box_filter): initialize CropBoxParam with default values in test Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
refactor(crop_box_filter): extract core and add unit tests (#886)
- refactor(autoware_crop_box_filter): extract CropBoxParam and generate_crop_box_polygon to core library
- test(autoware_crop_box_filter): add unit test for generate_crop_box_polygon
- refactor(autoware_crop_box_filter): extract filter_pointcloud logic to core library
- refactor(autoware_crop_box_filter): remove unnecessary includes from crop_box_filter_node.hpp
* refactor(autoware_crop_box_filter): move filter_pointcloud tests to unit test file Move filter_pointcloud() tests from test_crop_box_filter_node.cpp to test_crop_box_filter.cpp since they test core logic, not node behavior.
- refactor(autoware_crop_box_filter): apply AAA pattern and type aliases to filter_pointcloud tests
* refactor(autoware_crop_box_filter): rename negative to keep_outside_box ---------Co-authored-by: Takahisa.Ishikawa
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/crop_box_filter_node.launch.xml
-
- input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
- output_topic_name [default: /sensing/lidar/top/self_cropped/pointcloud_ex]
- input_frame [default: base_link]
- output_frame [default: base_link]
- input_pointcloud_frame [default: velodyne_top_base_link]
- crop_box_filter_param_file [default: $(find-pkg-share autoware_crop_box_filter)/config/crop_box_filter_node.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crop_box_filter at Robotics Stack Exchange
Package Summary
| Version | 1.8.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- amc-nu
- Yukihiro Saito
- Kyoichi Sugahara
- Dai Nguyen
- Kenzo Lobos-Tsunekawa
- Yihsiang Fang
- Yoshi Ri
- David Wong
- Melike Tanrikulu
- Max Schmeller
- Xingang Liu
Authors
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
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
1.8.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to sensing packages (#985) Co-authored-by: github-actions <<github-actions@github.com>>
-
fix(autoware_crop_box_filter): add optional check before accessing crop_box_filter_ (#1016)
-
refactor(crop_box_filter): simplify filter logic by using identity matrix for no-transform case (#959) refactor(autoware_crop_box_filter): simplify filter logic by using identity matrix for no-transform case Use identity matrices as default for preprocess/postprocess transforms, eliminating conditional branches in the filter loop. Pre-compute output_frame_id in the constructor to simplify frame_id resolution. Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
fix(autoware_crop_box_filter): fix bugprone-implicit-widening-of-multiplication-result warnings (#911)
-
fix(autoware_crop_box_filter): fix bugprone-narrowing-conversions warnings (#936)
-
refactor(autoware_crop_box_filter): extract CropBoxFilter logic class (#941)
- refactor(autoware_crop_box_filter): rename CropBoxFilter node class to CropBoxFilterNode
- refactor(autoware_crop_box_filter): extract CropBoxFilter logic class
- refactor(autoware_crop_box_filter): remove output_frame from CropBoxFilterConfig
* refactor(autoware_crop_box_filter): remove unnecessary member variables Convert tf_input_orig_frame_ and max_queue_size_ to local variables as they are only used in the constructor.
- test(autoware_crop_box_filter): add unit tests for preprocess and postprocess transform
- refactor(crop_box_filter): rename variable for clarity in transform handling
* refactor(crop_box_filter): simplify transform handling by removing has_value checks ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
-
fix(crop_box_filter): maybe-uninitialized build error (#909) fix(crop_box_filter): initialize CropBoxParam with default values in test Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
refactor(crop_box_filter): extract core and add unit tests (#886)
- refactor(autoware_crop_box_filter): extract CropBoxParam and generate_crop_box_polygon to core library
- test(autoware_crop_box_filter): add unit test for generate_crop_box_polygon
- refactor(autoware_crop_box_filter): extract filter_pointcloud logic to core library
- refactor(autoware_crop_box_filter): remove unnecessary includes from crop_box_filter_node.hpp
* refactor(autoware_crop_box_filter): move filter_pointcloud tests to unit test file Move filter_pointcloud() tests from test_crop_box_filter_node.cpp to test_crop_box_filter.cpp since they test core logic, not node behavior.
- refactor(autoware_crop_box_filter): apply AAA pattern and type aliases to filter_pointcloud tests
* refactor(autoware_crop_box_filter): rename negative to keep_outside_box ---------Co-authored-by: Takahisa.Ishikawa
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/crop_box_filter_node.launch.xml
-
- input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
- output_topic_name [default: /sensing/lidar/top/self_cropped/pointcloud_ex]
- input_frame [default: base_link]
- output_frame [default: base_link]
- input_pointcloud_frame [default: velodyne_top_base_link]
- crop_box_filter_param_file [default: $(find-pkg-share autoware_crop_box_filter)/config/crop_box_filter_node.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crop_box_filter at Robotics Stack Exchange
Package Summary
| Version | 1.8.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- amc-nu
- Yukihiro Saito
- Kyoichi Sugahara
- Dai Nguyen
- Kenzo Lobos-Tsunekawa
- Yihsiang Fang
- Yoshi Ri
- David Wong
- Melike Tanrikulu
- Max Schmeller
- Xingang Liu
Authors
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
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
1.8.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to sensing packages (#985) Co-authored-by: github-actions <<github-actions@github.com>>
-
fix(autoware_crop_box_filter): add optional check before accessing crop_box_filter_ (#1016)
-
refactor(crop_box_filter): simplify filter logic by using identity matrix for no-transform case (#959) refactor(autoware_crop_box_filter): simplify filter logic by using identity matrix for no-transform case Use identity matrices as default for preprocess/postprocess transforms, eliminating conditional branches in the filter loop. Pre-compute output_frame_id in the constructor to simplify frame_id resolution. Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
fix(autoware_crop_box_filter): fix bugprone-implicit-widening-of-multiplication-result warnings (#911)
-
fix(autoware_crop_box_filter): fix bugprone-narrowing-conversions warnings (#936)
-
refactor(autoware_crop_box_filter): extract CropBoxFilter logic class (#941)
- refactor(autoware_crop_box_filter): rename CropBoxFilter node class to CropBoxFilterNode
- refactor(autoware_crop_box_filter): extract CropBoxFilter logic class
- refactor(autoware_crop_box_filter): remove output_frame from CropBoxFilterConfig
* refactor(autoware_crop_box_filter): remove unnecessary member variables Convert tf_input_orig_frame_ and max_queue_size_ to local variables as they are only used in the constructor.
- test(autoware_crop_box_filter): add unit tests for preprocess and postprocess transform
- refactor(crop_box_filter): rename variable for clarity in transform handling
* refactor(crop_box_filter): simplify transform handling by removing has_value checks ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
-
fix(crop_box_filter): maybe-uninitialized build error (#909) fix(crop_box_filter): initialize CropBoxParam with default values in test Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
refactor(crop_box_filter): extract core and add unit tests (#886)
- refactor(autoware_crop_box_filter): extract CropBoxParam and generate_crop_box_polygon to core library
- test(autoware_crop_box_filter): add unit test for generate_crop_box_polygon
- refactor(autoware_crop_box_filter): extract filter_pointcloud logic to core library
- refactor(autoware_crop_box_filter): remove unnecessary includes from crop_box_filter_node.hpp
* refactor(autoware_crop_box_filter): move filter_pointcloud tests to unit test file Move filter_pointcloud() tests from test_crop_box_filter_node.cpp to test_crop_box_filter.cpp since they test core logic, not node behavior.
- refactor(autoware_crop_box_filter): apply AAA pattern and type aliases to filter_pointcloud tests
* refactor(autoware_crop_box_filter): rename negative to keep_outside_box ---------Co-authored-by: Takahisa.Ishikawa
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/crop_box_filter_node.launch.xml
-
- input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
- output_topic_name [default: /sensing/lidar/top/self_cropped/pointcloud_ex]
- input_frame [default: base_link]
- output_frame [default: base_link]
- input_pointcloud_frame [default: velodyne_top_base_link]
- crop_box_filter_param_file [default: $(find-pkg-share autoware_crop_box_filter)/config/crop_box_filter_node.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crop_box_filter at Robotics Stack Exchange
Package Summary
| Version | 1.8.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- amc-nu
- Yukihiro Saito
- Kyoichi Sugahara
- Dai Nguyen
- Kenzo Lobos-Tsunekawa
- Yihsiang Fang
- Yoshi Ri
- David Wong
- Melike Tanrikulu
- Max Schmeller
- Xingang Liu
Authors
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
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
1.8.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to sensing packages (#985) Co-authored-by: github-actions <<github-actions@github.com>>
-
fix(autoware_crop_box_filter): add optional check before accessing crop_box_filter_ (#1016)
-
refactor(crop_box_filter): simplify filter logic by using identity matrix for no-transform case (#959) refactor(autoware_crop_box_filter): simplify filter logic by using identity matrix for no-transform case Use identity matrices as default for preprocess/postprocess transforms, eliminating conditional branches in the filter loop. Pre-compute output_frame_id in the constructor to simplify frame_id resolution. Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
fix(autoware_crop_box_filter): fix bugprone-implicit-widening-of-multiplication-result warnings (#911)
-
fix(autoware_crop_box_filter): fix bugprone-narrowing-conversions warnings (#936)
-
refactor(autoware_crop_box_filter): extract CropBoxFilter logic class (#941)
- refactor(autoware_crop_box_filter): rename CropBoxFilter node class to CropBoxFilterNode
- refactor(autoware_crop_box_filter): extract CropBoxFilter logic class
- refactor(autoware_crop_box_filter): remove output_frame from CropBoxFilterConfig
* refactor(autoware_crop_box_filter): remove unnecessary member variables Convert tf_input_orig_frame_ and max_queue_size_ to local variables as they are only used in the constructor.
- test(autoware_crop_box_filter): add unit tests for preprocess and postprocess transform
- refactor(crop_box_filter): rename variable for clarity in transform handling
* refactor(crop_box_filter): simplify transform handling by removing has_value checks ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
-
fix(crop_box_filter): maybe-uninitialized build error (#909) fix(crop_box_filter): initialize CropBoxParam with default values in test Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
refactor(crop_box_filter): extract core and add unit tests (#886)
- refactor(autoware_crop_box_filter): extract CropBoxParam and generate_crop_box_polygon to core library
- test(autoware_crop_box_filter): add unit test for generate_crop_box_polygon
- refactor(autoware_crop_box_filter): extract filter_pointcloud logic to core library
- refactor(autoware_crop_box_filter): remove unnecessary includes from crop_box_filter_node.hpp
* refactor(autoware_crop_box_filter): move filter_pointcloud tests to unit test file Move filter_pointcloud() tests from test_crop_box_filter_node.cpp to test_crop_box_filter.cpp since they test core logic, not node behavior.
- refactor(autoware_crop_box_filter): apply AAA pattern and type aliases to filter_pointcloud tests
* refactor(autoware_crop_box_filter): rename negative to keep_outside_box ---------Co-authored-by: Takahisa.Ishikawa
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/crop_box_filter_node.launch.xml
-
- input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
- output_topic_name [default: /sensing/lidar/top/self_cropped/pointcloud_ex]
- input_frame [default: base_link]
- output_frame [default: base_link]
- input_pointcloud_frame [default: velodyne_top_base_link]
- crop_box_filter_param_file [default: $(find-pkg-share autoware_crop_box_filter)/config/crop_box_filter_node.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crop_box_filter at Robotics Stack Exchange
Package Summary
| Version | 1.8.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- amc-nu
- Yukihiro Saito
- Kyoichi Sugahara
- Dai Nguyen
- Kenzo Lobos-Tsunekawa
- Yihsiang Fang
- Yoshi Ri
- David Wong
- Melike Tanrikulu
- Max Schmeller
- Xingang Liu
Authors
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
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
1.8.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to sensing packages (#985) Co-authored-by: github-actions <<github-actions@github.com>>
-
fix(autoware_crop_box_filter): add optional check before accessing crop_box_filter_ (#1016)
-
refactor(crop_box_filter): simplify filter logic by using identity matrix for no-transform case (#959) refactor(autoware_crop_box_filter): simplify filter logic by using identity matrix for no-transform case Use identity matrices as default for preprocess/postprocess transforms, eliminating conditional branches in the filter loop. Pre-compute output_frame_id in the constructor to simplify frame_id resolution. Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
fix(autoware_crop_box_filter): fix bugprone-implicit-widening-of-multiplication-result warnings (#911)
-
fix(autoware_crop_box_filter): fix bugprone-narrowing-conversions warnings (#936)
-
refactor(autoware_crop_box_filter): extract CropBoxFilter logic class (#941)
- refactor(autoware_crop_box_filter): rename CropBoxFilter node class to CropBoxFilterNode
- refactor(autoware_crop_box_filter): extract CropBoxFilter logic class
- refactor(autoware_crop_box_filter): remove output_frame from CropBoxFilterConfig
* refactor(autoware_crop_box_filter): remove unnecessary member variables Convert tf_input_orig_frame_ and max_queue_size_ to local variables as they are only used in the constructor.
- test(autoware_crop_box_filter): add unit tests for preprocess and postprocess transform
- refactor(crop_box_filter): rename variable for clarity in transform handling
* refactor(crop_box_filter): simplify transform handling by removing has_value checks ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
-
fix(crop_box_filter): maybe-uninitialized build error (#909) fix(crop_box_filter): initialize CropBoxParam with default values in test Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
refactor(crop_box_filter): extract core and add unit tests (#886)
- refactor(autoware_crop_box_filter): extract CropBoxParam and generate_crop_box_polygon to core library
- test(autoware_crop_box_filter): add unit test for generate_crop_box_polygon
- refactor(autoware_crop_box_filter): extract filter_pointcloud logic to core library
- refactor(autoware_crop_box_filter): remove unnecessary includes from crop_box_filter_node.hpp
* refactor(autoware_crop_box_filter): move filter_pointcloud tests to unit test file Move filter_pointcloud() tests from test_crop_box_filter_node.cpp to test_crop_box_filter.cpp since they test core logic, not node behavior.
- refactor(autoware_crop_box_filter): apply AAA pattern and type aliases to filter_pointcloud tests
* refactor(autoware_crop_box_filter): rename negative to keep_outside_box ---------Co-authored-by: Takahisa.Ishikawa
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/crop_box_filter_node.launch.xml
-
- input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
- output_topic_name [default: /sensing/lidar/top/self_cropped/pointcloud_ex]
- input_frame [default: base_link]
- output_frame [default: base_link]
- input_pointcloud_frame [default: velodyne_top_base_link]
- crop_box_filter_param_file [default: $(find-pkg-share autoware_crop_box_filter)/config/crop_box_filter_node.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crop_box_filter at Robotics Stack Exchange
Package Summary
| Version | 1.8.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- amc-nu
- Yukihiro Saito
- Kyoichi Sugahara
- Dai Nguyen
- Kenzo Lobos-Tsunekawa
- Yihsiang Fang
- Yoshi Ri
- David Wong
- Melike Tanrikulu
- Max Schmeller
- Xingang Liu
Authors
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
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
1.8.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to sensing packages (#985) Co-authored-by: github-actions <<github-actions@github.com>>
-
fix(autoware_crop_box_filter): add optional check before accessing crop_box_filter_ (#1016)
-
refactor(crop_box_filter): simplify filter logic by using identity matrix for no-transform case (#959) refactor(autoware_crop_box_filter): simplify filter logic by using identity matrix for no-transform case Use identity matrices as default for preprocess/postprocess transforms, eliminating conditional branches in the filter loop. Pre-compute output_frame_id in the constructor to simplify frame_id resolution. Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
fix(autoware_crop_box_filter): fix bugprone-implicit-widening-of-multiplication-result warnings (#911)
-
fix(autoware_crop_box_filter): fix bugprone-narrowing-conversions warnings (#936)
-
refactor(autoware_crop_box_filter): extract CropBoxFilter logic class (#941)
- refactor(autoware_crop_box_filter): rename CropBoxFilter node class to CropBoxFilterNode
- refactor(autoware_crop_box_filter): extract CropBoxFilter logic class
- refactor(autoware_crop_box_filter): remove output_frame from CropBoxFilterConfig
* refactor(autoware_crop_box_filter): remove unnecessary member variables Convert tf_input_orig_frame_ and max_queue_size_ to local variables as they are only used in the constructor.
- test(autoware_crop_box_filter): add unit tests for preprocess and postprocess transform
- refactor(crop_box_filter): rename variable for clarity in transform handling
* refactor(crop_box_filter): simplify transform handling by removing has_value checks ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
-
fix(crop_box_filter): maybe-uninitialized build error (#909) fix(crop_box_filter): initialize CropBoxParam with default values in test Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
refactor(crop_box_filter): extract core and add unit tests (#886)
- refactor(autoware_crop_box_filter): extract CropBoxParam and generate_crop_box_polygon to core library
- test(autoware_crop_box_filter): add unit test for generate_crop_box_polygon
- refactor(autoware_crop_box_filter): extract filter_pointcloud logic to core library
- refactor(autoware_crop_box_filter): remove unnecessary includes from crop_box_filter_node.hpp
* refactor(autoware_crop_box_filter): move filter_pointcloud tests to unit test file Move filter_pointcloud() tests from test_crop_box_filter_node.cpp to test_crop_box_filter.cpp since they test core logic, not node behavior.
- refactor(autoware_crop_box_filter): apply AAA pattern and type aliases to filter_pointcloud tests
* refactor(autoware_crop_box_filter): rename negative to keep_outside_box ---------Co-authored-by: Takahisa.Ishikawa
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/crop_box_filter_node.launch.xml
-
- input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
- output_topic_name [default: /sensing/lidar/top/self_cropped/pointcloud_ex]
- input_frame [default: base_link]
- output_frame [default: base_link]
- input_pointcloud_frame [default: velodyne_top_base_link]
- crop_box_filter_param_file [default: $(find-pkg-share autoware_crop_box_filter)/config/crop_box_filter_node.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crop_box_filter at Robotics Stack Exchange
Package Summary
| Version | 1.8.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- amc-nu
- Yukihiro Saito
- Kyoichi Sugahara
- Dai Nguyen
- Kenzo Lobos-Tsunekawa
- Yihsiang Fang
- Yoshi Ri
- David Wong
- Melike Tanrikulu
- Max Schmeller
- Xingang Liu
Authors
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
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
1.8.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to sensing packages (#985) Co-authored-by: github-actions <<github-actions@github.com>>
-
fix(autoware_crop_box_filter): add optional check before accessing crop_box_filter_ (#1016)
-
refactor(crop_box_filter): simplify filter logic by using identity matrix for no-transform case (#959) refactor(autoware_crop_box_filter): simplify filter logic by using identity matrix for no-transform case Use identity matrices as default for preprocess/postprocess transforms, eliminating conditional branches in the filter loop. Pre-compute output_frame_id in the constructor to simplify frame_id resolution. Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
fix(autoware_crop_box_filter): fix bugprone-implicit-widening-of-multiplication-result warnings (#911)
-
fix(autoware_crop_box_filter): fix bugprone-narrowing-conversions warnings (#936)
-
refactor(autoware_crop_box_filter): extract CropBoxFilter logic class (#941)
- refactor(autoware_crop_box_filter): rename CropBoxFilter node class to CropBoxFilterNode
- refactor(autoware_crop_box_filter): extract CropBoxFilter logic class
- refactor(autoware_crop_box_filter): remove output_frame from CropBoxFilterConfig
* refactor(autoware_crop_box_filter): remove unnecessary member variables Convert tf_input_orig_frame_ and max_queue_size_ to local variables as they are only used in the constructor.
- test(autoware_crop_box_filter): add unit tests for preprocess and postprocess transform
- refactor(crop_box_filter): rename variable for clarity in transform handling
* refactor(crop_box_filter): simplify transform handling by removing has_value checks ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
-
fix(crop_box_filter): maybe-uninitialized build error (#909) fix(crop_box_filter): initialize CropBoxParam with default values in test Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
refactor(crop_box_filter): extract core and add unit tests (#886)
- refactor(autoware_crop_box_filter): extract CropBoxParam and generate_crop_box_polygon to core library
- test(autoware_crop_box_filter): add unit test for generate_crop_box_polygon
- refactor(autoware_crop_box_filter): extract filter_pointcloud logic to core library
- refactor(autoware_crop_box_filter): remove unnecessary includes from crop_box_filter_node.hpp
* refactor(autoware_crop_box_filter): move filter_pointcloud tests to unit test file Move filter_pointcloud() tests from test_crop_box_filter_node.cpp to test_crop_box_filter.cpp since they test core logic, not node behavior.
- refactor(autoware_crop_box_filter): apply AAA pattern and type aliases to filter_pointcloud tests
* refactor(autoware_crop_box_filter): rename negative to keep_outside_box ---------Co-authored-by: Takahisa.Ishikawa
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/crop_box_filter_node.launch.xml
-
- input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
- output_topic_name [default: /sensing/lidar/top/self_cropped/pointcloud_ex]
- input_frame [default: base_link]
- output_frame [default: base_link]
- input_pointcloud_frame [default: velodyne_top_base_link]
- crop_box_filter_param_file [default: $(find-pkg-share autoware_crop_box_filter)/config/crop_box_filter_node.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crop_box_filter at Robotics Stack Exchange
Package Summary
| Version | 1.8.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- amc-nu
- Yukihiro Saito
- Kyoichi Sugahara
- Dai Nguyen
- Kenzo Lobos-Tsunekawa
- Yihsiang Fang
- Yoshi Ri
- David Wong
- Melike Tanrikulu
- Max Schmeller
- Xingang Liu
Authors
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
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
1.8.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to sensing packages (#985) Co-authored-by: github-actions <<github-actions@github.com>>
-
fix(autoware_crop_box_filter): add optional check before accessing crop_box_filter_ (#1016)
-
refactor(crop_box_filter): simplify filter logic by using identity matrix for no-transform case (#959) refactor(autoware_crop_box_filter): simplify filter logic by using identity matrix for no-transform case Use identity matrices as default for preprocess/postprocess transforms, eliminating conditional branches in the filter loop. Pre-compute output_frame_id in the constructor to simplify frame_id resolution. Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
fix(autoware_crop_box_filter): fix bugprone-implicit-widening-of-multiplication-result warnings (#911)
-
fix(autoware_crop_box_filter): fix bugprone-narrowing-conversions warnings (#936)
-
refactor(autoware_crop_box_filter): extract CropBoxFilter logic class (#941)
- refactor(autoware_crop_box_filter): rename CropBoxFilter node class to CropBoxFilterNode
- refactor(autoware_crop_box_filter): extract CropBoxFilter logic class
- refactor(autoware_crop_box_filter): remove output_frame from CropBoxFilterConfig
* refactor(autoware_crop_box_filter): remove unnecessary member variables Convert tf_input_orig_frame_ and max_queue_size_ to local variables as they are only used in the constructor.
- test(autoware_crop_box_filter): add unit tests for preprocess and postprocess transform
- refactor(crop_box_filter): rename variable for clarity in transform handling
* refactor(crop_box_filter): simplify transform handling by removing has_value checks ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
-
fix(crop_box_filter): maybe-uninitialized build error (#909) fix(crop_box_filter): initialize CropBoxParam with default values in test Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
refactor(crop_box_filter): extract core and add unit tests (#886)
- refactor(autoware_crop_box_filter): extract CropBoxParam and generate_crop_box_polygon to core library
- test(autoware_crop_box_filter): add unit test for generate_crop_box_polygon
- refactor(autoware_crop_box_filter): extract filter_pointcloud logic to core library
- refactor(autoware_crop_box_filter): remove unnecessary includes from crop_box_filter_node.hpp
* refactor(autoware_crop_box_filter): move filter_pointcloud tests to unit test file Move filter_pointcloud() tests from test_crop_box_filter_node.cpp to test_crop_box_filter.cpp since they test core logic, not node behavior.
- refactor(autoware_crop_box_filter): apply AAA pattern and type aliases to filter_pointcloud tests
* refactor(autoware_crop_box_filter): rename negative to keep_outside_box ---------Co-authored-by: Takahisa.Ishikawa
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/crop_box_filter_node.launch.xml
-
- input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
- output_topic_name [default: /sensing/lidar/top/self_cropped/pointcloud_ex]
- input_frame [default: base_link]
- output_frame [default: base_link]
- input_pointcloud_frame [default: velodyne_top_base_link]
- crop_box_filter_param_file [default: $(find-pkg-share autoware_crop_box_filter)/config/crop_box_filter_node.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crop_box_filter at Robotics Stack Exchange
Package Summary
| Version | 1.8.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- amc-nu
- Yukihiro Saito
- Kyoichi Sugahara
- Dai Nguyen
- Kenzo Lobos-Tsunekawa
- Yihsiang Fang
- Yoshi Ri
- David Wong
- Melike Tanrikulu
- Max Schmeller
- Xingang Liu
Authors
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
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
1.8.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to sensing packages (#985) Co-authored-by: github-actions <<github-actions@github.com>>
-
fix(autoware_crop_box_filter): add optional check before accessing crop_box_filter_ (#1016)
-
refactor(crop_box_filter): simplify filter logic by using identity matrix for no-transform case (#959) refactor(autoware_crop_box_filter): simplify filter logic by using identity matrix for no-transform case Use identity matrices as default for preprocess/postprocess transforms, eliminating conditional branches in the filter loop. Pre-compute output_frame_id in the constructor to simplify frame_id resolution. Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
fix(autoware_crop_box_filter): fix bugprone-implicit-widening-of-multiplication-result warnings (#911)
-
fix(autoware_crop_box_filter): fix bugprone-narrowing-conversions warnings (#936)
-
refactor(autoware_crop_box_filter): extract CropBoxFilter logic class (#941)
- refactor(autoware_crop_box_filter): rename CropBoxFilter node class to CropBoxFilterNode
- refactor(autoware_crop_box_filter): extract CropBoxFilter logic class
- refactor(autoware_crop_box_filter): remove output_frame from CropBoxFilterConfig
* refactor(autoware_crop_box_filter): remove unnecessary member variables Convert tf_input_orig_frame_ and max_queue_size_ to local variables as they are only used in the constructor.
- test(autoware_crop_box_filter): add unit tests for preprocess and postprocess transform
- refactor(crop_box_filter): rename variable for clarity in transform handling
* refactor(crop_box_filter): simplify transform handling by removing has_value checks ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
-
fix(crop_box_filter): maybe-uninitialized build error (#909) fix(crop_box_filter): initialize CropBoxParam with default values in test Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
refactor(crop_box_filter): extract core and add unit tests (#886)
- refactor(autoware_crop_box_filter): extract CropBoxParam and generate_crop_box_polygon to core library
- test(autoware_crop_box_filter): add unit test for generate_crop_box_polygon
- refactor(autoware_crop_box_filter): extract filter_pointcloud logic to core library
- refactor(autoware_crop_box_filter): remove unnecessary includes from crop_box_filter_node.hpp
* refactor(autoware_crop_box_filter): move filter_pointcloud tests to unit test file Move filter_pointcloud() tests from test_crop_box_filter_node.cpp to test_crop_box_filter.cpp since they test core logic, not node behavior.
- refactor(autoware_crop_box_filter): apply AAA pattern and type aliases to filter_pointcloud tests
* refactor(autoware_crop_box_filter): rename negative to keep_outside_box ---------Co-authored-by: Takahisa.Ishikawa
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/crop_box_filter_node.launch.xml
-
- input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
- output_topic_name [default: /sensing/lidar/top/self_cropped/pointcloud_ex]
- input_frame [default: base_link]
- output_frame [default: base_link]
- input_pointcloud_frame [default: velodyne_top_base_link]
- crop_box_filter_param_file [default: $(find-pkg-share autoware_crop_box_filter)/config/crop_box_filter_node.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crop_box_filter at Robotics Stack Exchange
Package Summary
| Version | 1.8.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- amc-nu
- Yukihiro Saito
- Kyoichi Sugahara
- Dai Nguyen
- Kenzo Lobos-Tsunekawa
- Yihsiang Fang
- Yoshi Ri
- David Wong
- Melike Tanrikulu
- Max Schmeller
- Xingang Liu
Authors
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
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
1.8.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to sensing packages (#985) Co-authored-by: github-actions <<github-actions@github.com>>
-
fix(autoware_crop_box_filter): add optional check before accessing crop_box_filter_ (#1016)
-
refactor(crop_box_filter): simplify filter logic by using identity matrix for no-transform case (#959) refactor(autoware_crop_box_filter): simplify filter logic by using identity matrix for no-transform case Use identity matrices as default for preprocess/postprocess transforms, eliminating conditional branches in the filter loop. Pre-compute output_frame_id in the constructor to simplify frame_id resolution. Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
fix(autoware_crop_box_filter): fix bugprone-implicit-widening-of-multiplication-result warnings (#911)
-
fix(autoware_crop_box_filter): fix bugprone-narrowing-conversions warnings (#936)
-
refactor(autoware_crop_box_filter): extract CropBoxFilter logic class (#941)
- refactor(autoware_crop_box_filter): rename CropBoxFilter node class to CropBoxFilterNode
- refactor(autoware_crop_box_filter): extract CropBoxFilter logic class
- refactor(autoware_crop_box_filter): remove output_frame from CropBoxFilterConfig
* refactor(autoware_crop_box_filter): remove unnecessary member variables Convert tf_input_orig_frame_ and max_queue_size_ to local variables as they are only used in the constructor.
- test(autoware_crop_box_filter): add unit tests for preprocess and postprocess transform
- refactor(crop_box_filter): rename variable for clarity in transform handling
* refactor(crop_box_filter): simplify transform handling by removing has_value checks ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
-
fix(crop_box_filter): maybe-uninitialized build error (#909) fix(crop_box_filter): initialize CropBoxParam with default values in test Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
refactor(crop_box_filter): extract core and add unit tests (#886)
- refactor(autoware_crop_box_filter): extract CropBoxParam and generate_crop_box_polygon to core library
- test(autoware_crop_box_filter): add unit test for generate_crop_box_polygon
- refactor(autoware_crop_box_filter): extract filter_pointcloud logic to core library
- refactor(autoware_crop_box_filter): remove unnecessary includes from crop_box_filter_node.hpp
* refactor(autoware_crop_box_filter): move filter_pointcloud tests to unit test file Move filter_pointcloud() tests from test_crop_box_filter_node.cpp to test_crop_box_filter.cpp since they test core logic, not node behavior.
- refactor(autoware_crop_box_filter): apply AAA pattern and type aliases to filter_pointcloud tests
* refactor(autoware_crop_box_filter): rename negative to keep_outside_box ---------Co-authored-by: Takahisa.Ishikawa
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/crop_box_filter_node.launch.xml
-
- input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
- output_topic_name [default: /sensing/lidar/top/self_cropped/pointcloud_ex]
- input_frame [default: base_link]
- output_frame [default: base_link]
- input_pointcloud_frame [default: velodyne_top_base_link]
- crop_box_filter_param_file [default: $(find-pkg-share autoware_crop_box_filter)/config/crop_box_filter_node.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crop_box_filter at Robotics Stack Exchange
Package Summary
| Version | 1.8.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- amc-nu
- Yukihiro Saito
- Kyoichi Sugahara
- Dai Nguyen
- Kenzo Lobos-Tsunekawa
- Yihsiang Fang
- Yoshi Ri
- David Wong
- Melike Tanrikulu
- Max Schmeller
- Xingang Liu
Authors
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
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
1.8.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to sensing packages (#985) Co-authored-by: github-actions <<github-actions@github.com>>
-
fix(autoware_crop_box_filter): add optional check before accessing crop_box_filter_ (#1016)
-
refactor(crop_box_filter): simplify filter logic by using identity matrix for no-transform case (#959) refactor(autoware_crop_box_filter): simplify filter logic by using identity matrix for no-transform case Use identity matrices as default for preprocess/postprocess transforms, eliminating conditional branches in the filter loop. Pre-compute output_frame_id in the constructor to simplify frame_id resolution. Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
fix(autoware_crop_box_filter): fix bugprone-implicit-widening-of-multiplication-result warnings (#911)
-
fix(autoware_crop_box_filter): fix bugprone-narrowing-conversions warnings (#936)
-
refactor(autoware_crop_box_filter): extract CropBoxFilter logic class (#941)
- refactor(autoware_crop_box_filter): rename CropBoxFilter node class to CropBoxFilterNode
- refactor(autoware_crop_box_filter): extract CropBoxFilter logic class
- refactor(autoware_crop_box_filter): remove output_frame from CropBoxFilterConfig
* refactor(autoware_crop_box_filter): remove unnecessary member variables Convert tf_input_orig_frame_ and max_queue_size_ to local variables as they are only used in the constructor.
- test(autoware_crop_box_filter): add unit tests for preprocess and postprocess transform
- refactor(crop_box_filter): rename variable for clarity in transform handling
* refactor(crop_box_filter): simplify transform handling by removing has_value checks ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
-
fix(crop_box_filter): maybe-uninitialized build error (#909) fix(crop_box_filter): initialize CropBoxParam with default values in test Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
refactor(crop_box_filter): extract core and add unit tests (#886)
- refactor(autoware_crop_box_filter): extract CropBoxParam and generate_crop_box_polygon to core library
- test(autoware_crop_box_filter): add unit test for generate_crop_box_polygon
- refactor(autoware_crop_box_filter): extract filter_pointcloud logic to core library
- refactor(autoware_crop_box_filter): remove unnecessary includes from crop_box_filter_node.hpp
* refactor(autoware_crop_box_filter): move filter_pointcloud tests to unit test file Move filter_pointcloud() tests from test_crop_box_filter_node.cpp to test_crop_box_filter.cpp since they test core logic, not node behavior.
- refactor(autoware_crop_box_filter): apply AAA pattern and type aliases to filter_pointcloud tests
* refactor(autoware_crop_box_filter): rename negative to keep_outside_box ---------Co-authored-by: Takahisa.Ishikawa
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/crop_box_filter_node.launch.xml
-
- input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
- output_topic_name [default: /sensing/lidar/top/self_cropped/pointcloud_ex]
- input_frame [default: base_link]
- output_frame [default: base_link]
- input_pointcloud_frame [default: velodyne_top_base_link]
- crop_box_filter_param_file [default: $(find-pkg-share autoware_crop_box_filter)/config/crop_box_filter_node.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crop_box_filter at Robotics Stack Exchange
Package Summary
| Version | 1.8.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- amc-nu
- Yukihiro Saito
- Kyoichi Sugahara
- Dai Nguyen
- Kenzo Lobos-Tsunekawa
- Yihsiang Fang
- Yoshi Ri
- David Wong
- Melike Tanrikulu
- Max Schmeller
- Xingang Liu
Authors
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
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
1.8.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to sensing packages (#985) Co-authored-by: github-actions <<github-actions@github.com>>
-
fix(autoware_crop_box_filter): add optional check before accessing crop_box_filter_ (#1016)
-
refactor(crop_box_filter): simplify filter logic by using identity matrix for no-transform case (#959) refactor(autoware_crop_box_filter): simplify filter logic by using identity matrix for no-transform case Use identity matrices as default for preprocess/postprocess transforms, eliminating conditional branches in the filter loop. Pre-compute output_frame_id in the constructor to simplify frame_id resolution. Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
fix(autoware_crop_box_filter): fix bugprone-implicit-widening-of-multiplication-result warnings (#911)
-
fix(autoware_crop_box_filter): fix bugprone-narrowing-conversions warnings (#936)
-
refactor(autoware_crop_box_filter): extract CropBoxFilter logic class (#941)
- refactor(autoware_crop_box_filter): rename CropBoxFilter node class to CropBoxFilterNode
- refactor(autoware_crop_box_filter): extract CropBoxFilter logic class
- refactor(autoware_crop_box_filter): remove output_frame from CropBoxFilterConfig
* refactor(autoware_crop_box_filter): remove unnecessary member variables Convert tf_input_orig_frame_ and max_queue_size_ to local variables as they are only used in the constructor.
- test(autoware_crop_box_filter): add unit tests for preprocess and postprocess transform
- refactor(crop_box_filter): rename variable for clarity in transform handling
* refactor(crop_box_filter): simplify transform handling by removing has_value checks ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
-
fix(crop_box_filter): maybe-uninitialized build error (#909) fix(crop_box_filter): initialize CropBoxParam with default values in test Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
refactor(crop_box_filter): extract core and add unit tests (#886)
- refactor(autoware_crop_box_filter): extract CropBoxParam and generate_crop_box_polygon to core library
- test(autoware_crop_box_filter): add unit test for generate_crop_box_polygon
- refactor(autoware_crop_box_filter): extract filter_pointcloud logic to core library
- refactor(autoware_crop_box_filter): remove unnecessary includes from crop_box_filter_node.hpp
* refactor(autoware_crop_box_filter): move filter_pointcloud tests to unit test file Move filter_pointcloud() tests from test_crop_box_filter_node.cpp to test_crop_box_filter.cpp since they test core logic, not node behavior.
- refactor(autoware_crop_box_filter): apply AAA pattern and type aliases to filter_pointcloud tests
* refactor(autoware_crop_box_filter): rename negative to keep_outside_box ---------Co-authored-by: Takahisa.Ishikawa
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/crop_box_filter_node.launch.xml
-
- input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
- output_topic_name [default: /sensing/lidar/top/self_cropped/pointcloud_ex]
- input_frame [default: base_link]
- output_frame [default: base_link]
- input_pointcloud_frame [default: velodyne_top_base_link]
- crop_box_filter_param_file [default: $(find-pkg-share autoware_crop_box_filter)/config/crop_box_filter_node.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crop_box_filter at Robotics Stack Exchange
Package Summary
| Version | 1.8.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- amc-nu
- Yukihiro Saito
- Kyoichi Sugahara
- Dai Nguyen
- Kenzo Lobos-Tsunekawa
- Yihsiang Fang
- Yoshi Ri
- David Wong
- Melike Tanrikulu
- Max Schmeller
- Xingang Liu
Authors
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
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
1.8.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to sensing packages (#985) Co-authored-by: github-actions <<github-actions@github.com>>
-
fix(autoware_crop_box_filter): add optional check before accessing crop_box_filter_ (#1016)
-
refactor(crop_box_filter): simplify filter logic by using identity matrix for no-transform case (#959) refactor(autoware_crop_box_filter): simplify filter logic by using identity matrix for no-transform case Use identity matrices as default for preprocess/postprocess transforms, eliminating conditional branches in the filter loop. Pre-compute output_frame_id in the constructor to simplify frame_id resolution. Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
fix(autoware_crop_box_filter): fix bugprone-implicit-widening-of-multiplication-result warnings (#911)
-
fix(autoware_crop_box_filter): fix bugprone-narrowing-conversions warnings (#936)
-
refactor(autoware_crop_box_filter): extract CropBoxFilter logic class (#941)
- refactor(autoware_crop_box_filter): rename CropBoxFilter node class to CropBoxFilterNode
- refactor(autoware_crop_box_filter): extract CropBoxFilter logic class
- refactor(autoware_crop_box_filter): remove output_frame from CropBoxFilterConfig
* refactor(autoware_crop_box_filter): remove unnecessary member variables Convert tf_input_orig_frame_ and max_queue_size_ to local variables as they are only used in the constructor.
- test(autoware_crop_box_filter): add unit tests for preprocess and postprocess transform
- refactor(crop_box_filter): rename variable for clarity in transform handling
* refactor(crop_box_filter): simplify transform handling by removing has_value checks ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
-
fix(crop_box_filter): maybe-uninitialized build error (#909) fix(crop_box_filter): initialize CropBoxParam with default values in test Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
refactor(crop_box_filter): extract core and add unit tests (#886)
- refactor(autoware_crop_box_filter): extract CropBoxParam and generate_crop_box_polygon to core library
- test(autoware_crop_box_filter): add unit test for generate_crop_box_polygon
- refactor(autoware_crop_box_filter): extract filter_pointcloud logic to core library
- refactor(autoware_crop_box_filter): remove unnecessary includes from crop_box_filter_node.hpp
* refactor(autoware_crop_box_filter): move filter_pointcloud tests to unit test file Move filter_pointcloud() tests from test_crop_box_filter_node.cpp to test_crop_box_filter.cpp since they test core logic, not node behavior.
- refactor(autoware_crop_box_filter): apply AAA pattern and type aliases to filter_pointcloud tests
* refactor(autoware_crop_box_filter): rename negative to keep_outside_box ---------Co-authored-by: Takahisa.Ishikawa
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/crop_box_filter_node.launch.xml
-
- input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
- output_topic_name [default: /sensing/lidar/top/self_cropped/pointcloud_ex]
- input_frame [default: base_link]
- output_frame [default: base_link]
- input_pointcloud_frame [default: velodyne_top_base_link]
- crop_box_filter_param_file [default: $(find-pkg-share autoware_crop_box_filter)/config/crop_box_filter_node.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crop_box_filter at Robotics Stack Exchange
Package Summary
| Version | 1.8.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- amc-nu
- Yukihiro Saito
- Kyoichi Sugahara
- Dai Nguyen
- Kenzo Lobos-Tsunekawa
- Yihsiang Fang
- Yoshi Ri
- David Wong
- Melike Tanrikulu
- Max Schmeller
- Xingang Liu
Authors
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
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
1.8.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to sensing packages (#985) Co-authored-by: github-actions <<github-actions@github.com>>
-
fix(autoware_crop_box_filter): add optional check before accessing crop_box_filter_ (#1016)
-
refactor(crop_box_filter): simplify filter logic by using identity matrix for no-transform case (#959) refactor(autoware_crop_box_filter): simplify filter logic by using identity matrix for no-transform case Use identity matrices as default for preprocess/postprocess transforms, eliminating conditional branches in the filter loop. Pre-compute output_frame_id in the constructor to simplify frame_id resolution. Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
fix(autoware_crop_box_filter): fix bugprone-implicit-widening-of-multiplication-result warnings (#911)
-
fix(autoware_crop_box_filter): fix bugprone-narrowing-conversions warnings (#936)
-
refactor(autoware_crop_box_filter): extract CropBoxFilter logic class (#941)
- refactor(autoware_crop_box_filter): rename CropBoxFilter node class to CropBoxFilterNode
- refactor(autoware_crop_box_filter): extract CropBoxFilter logic class
- refactor(autoware_crop_box_filter): remove output_frame from CropBoxFilterConfig
* refactor(autoware_crop_box_filter): remove unnecessary member variables Convert tf_input_orig_frame_ and max_queue_size_ to local variables as they are only used in the constructor.
- test(autoware_crop_box_filter): add unit tests for preprocess and postprocess transform
- refactor(crop_box_filter): rename variable for clarity in transform handling
* refactor(crop_box_filter): simplify transform handling by removing has_value checks ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
-
fix(crop_box_filter): maybe-uninitialized build error (#909) fix(crop_box_filter): initialize CropBoxParam with default values in test Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
refactor(crop_box_filter): extract core and add unit tests (#886)
- refactor(autoware_crop_box_filter): extract CropBoxParam and generate_crop_box_polygon to core library
- test(autoware_crop_box_filter): add unit test for generate_crop_box_polygon
- refactor(autoware_crop_box_filter): extract filter_pointcloud logic to core library
- refactor(autoware_crop_box_filter): remove unnecessary includes from crop_box_filter_node.hpp
* refactor(autoware_crop_box_filter): move filter_pointcloud tests to unit test file Move filter_pointcloud() tests from test_crop_box_filter_node.cpp to test_crop_box_filter.cpp since they test core logic, not node behavior.
- refactor(autoware_crop_box_filter): apply AAA pattern and type aliases to filter_pointcloud tests
* refactor(autoware_crop_box_filter): rename negative to keep_outside_box ---------Co-authored-by: Takahisa.Ishikawa
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/crop_box_filter_node.launch.xml
-
- input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
- output_topic_name [default: /sensing/lidar/top/self_cropped/pointcloud_ex]
- input_frame [default: base_link]
- output_frame [default: base_link]
- input_pointcloud_frame [default: velodyne_top_base_link]
- crop_box_filter_param_file [default: $(find-pkg-share autoware_crop_box_filter)/config/crop_box_filter_node.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crop_box_filter at Robotics Stack Exchange
Package Summary
| Version | 1.8.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- amc-nu
- Yukihiro Saito
- Kyoichi Sugahara
- Dai Nguyen
- Kenzo Lobos-Tsunekawa
- Yihsiang Fang
- Yoshi Ri
- David Wong
- Melike Tanrikulu
- Max Schmeller
- Xingang Liu
Authors
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
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
1.8.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to sensing packages (#985) Co-authored-by: github-actions <<github-actions@github.com>>
-
fix(autoware_crop_box_filter): add optional check before accessing crop_box_filter_ (#1016)
-
refactor(crop_box_filter): simplify filter logic by using identity matrix for no-transform case (#959) refactor(autoware_crop_box_filter): simplify filter logic by using identity matrix for no-transform case Use identity matrices as default for preprocess/postprocess transforms, eliminating conditional branches in the filter loop. Pre-compute output_frame_id in the constructor to simplify frame_id resolution. Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
fix(autoware_crop_box_filter): fix bugprone-implicit-widening-of-multiplication-result warnings (#911)
-
fix(autoware_crop_box_filter): fix bugprone-narrowing-conversions warnings (#936)
-
refactor(autoware_crop_box_filter): extract CropBoxFilter logic class (#941)
- refactor(autoware_crop_box_filter): rename CropBoxFilter node class to CropBoxFilterNode
- refactor(autoware_crop_box_filter): extract CropBoxFilter logic class
- refactor(autoware_crop_box_filter): remove output_frame from CropBoxFilterConfig
* refactor(autoware_crop_box_filter): remove unnecessary member variables Convert tf_input_orig_frame_ and max_queue_size_ to local variables as they are only used in the constructor.
- test(autoware_crop_box_filter): add unit tests for preprocess and postprocess transform
- refactor(crop_box_filter): rename variable for clarity in transform handling
* refactor(crop_box_filter): simplify transform handling by removing has_value checks ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
-
fix(crop_box_filter): maybe-uninitialized build error (#909) fix(crop_box_filter): initialize CropBoxParam with default values in test Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
refactor(crop_box_filter): extract core and add unit tests (#886)
- refactor(autoware_crop_box_filter): extract CropBoxParam and generate_crop_box_polygon to core library
- test(autoware_crop_box_filter): add unit test for generate_crop_box_polygon
- refactor(autoware_crop_box_filter): extract filter_pointcloud logic to core library
- refactor(autoware_crop_box_filter): remove unnecessary includes from crop_box_filter_node.hpp
* refactor(autoware_crop_box_filter): move filter_pointcloud tests to unit test file Move filter_pointcloud() tests from test_crop_box_filter_node.cpp to test_crop_box_filter.cpp since they test core logic, not node behavior.
- refactor(autoware_crop_box_filter): apply AAA pattern and type aliases to filter_pointcloud tests
* refactor(autoware_crop_box_filter): rename negative to keep_outside_box ---------Co-authored-by: Takahisa.Ishikawa
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/crop_box_filter_node.launch.xml
-
- input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
- output_topic_name [default: /sensing/lidar/top/self_cropped/pointcloud_ex]
- input_frame [default: base_link]
- output_frame [default: base_link]
- input_pointcloud_frame [default: velodyne_top_base_link]
- crop_box_filter_param_file [default: $(find-pkg-share autoware_crop_box_filter)/config/crop_box_filter_node.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crop_box_filter at Robotics Stack Exchange
Package Summary
| Version | 1.8.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- amc-nu
- Yukihiro Saito
- Kyoichi Sugahara
- Dai Nguyen
- Kenzo Lobos-Tsunekawa
- Yihsiang Fang
- Yoshi Ri
- David Wong
- Melike Tanrikulu
- Max Schmeller
- Xingang Liu
Authors
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
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
1.8.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to sensing packages (#985) Co-authored-by: github-actions <<github-actions@github.com>>
-
fix(autoware_crop_box_filter): add optional check before accessing crop_box_filter_ (#1016)
-
refactor(crop_box_filter): simplify filter logic by using identity matrix for no-transform case (#959) refactor(autoware_crop_box_filter): simplify filter logic by using identity matrix for no-transform case Use identity matrices as default for preprocess/postprocess transforms, eliminating conditional branches in the filter loop. Pre-compute output_frame_id in the constructor to simplify frame_id resolution. Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
fix(autoware_crop_box_filter): fix bugprone-implicit-widening-of-multiplication-result warnings (#911)
-
fix(autoware_crop_box_filter): fix bugprone-narrowing-conversions warnings (#936)
-
refactor(autoware_crop_box_filter): extract CropBoxFilter logic class (#941)
- refactor(autoware_crop_box_filter): rename CropBoxFilter node class to CropBoxFilterNode
- refactor(autoware_crop_box_filter): extract CropBoxFilter logic class
- refactor(autoware_crop_box_filter): remove output_frame from CropBoxFilterConfig
* refactor(autoware_crop_box_filter): remove unnecessary member variables Convert tf_input_orig_frame_ and max_queue_size_ to local variables as they are only used in the constructor.
- test(autoware_crop_box_filter): add unit tests for preprocess and postprocess transform
- refactor(crop_box_filter): rename variable for clarity in transform handling
* refactor(crop_box_filter): simplify transform handling by removing has_value checks ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
-
fix(crop_box_filter): maybe-uninitialized build error (#909) fix(crop_box_filter): initialize CropBoxParam with default values in test Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
refactor(crop_box_filter): extract core and add unit tests (#886)
- refactor(autoware_crop_box_filter): extract CropBoxParam and generate_crop_box_polygon to core library
- test(autoware_crop_box_filter): add unit test for generate_crop_box_polygon
- refactor(autoware_crop_box_filter): extract filter_pointcloud logic to core library
- refactor(autoware_crop_box_filter): remove unnecessary includes from crop_box_filter_node.hpp
* refactor(autoware_crop_box_filter): move filter_pointcloud tests to unit test file Move filter_pointcloud() tests from test_crop_box_filter_node.cpp to test_crop_box_filter.cpp since they test core logic, not node behavior.
- refactor(autoware_crop_box_filter): apply AAA pattern and type aliases to filter_pointcloud tests
* refactor(autoware_crop_box_filter): rename negative to keep_outside_box ---------Co-authored-by: Takahisa.Ishikawa
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/crop_box_filter_node.launch.xml
-
- input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
- output_topic_name [default: /sensing/lidar/top/self_cropped/pointcloud_ex]
- input_frame [default: base_link]
- output_frame [default: base_link]
- input_pointcloud_frame [default: velodyne_top_base_link]
- crop_box_filter_param_file [default: $(find-pkg-share autoware_crop_box_filter)/config/crop_box_filter_node.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crop_box_filter at Robotics Stack Exchange
Package Summary
| Version | 1.8.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- amc-nu
- Yukihiro Saito
- Kyoichi Sugahara
- Dai Nguyen
- Kenzo Lobos-Tsunekawa
- Yihsiang Fang
- Yoshi Ri
- David Wong
- Melike Tanrikulu
- Max Schmeller
- Xingang Liu
Authors
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
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
1.8.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to sensing packages (#985) Co-authored-by: github-actions <<github-actions@github.com>>
-
fix(autoware_crop_box_filter): add optional check before accessing crop_box_filter_ (#1016)
-
refactor(crop_box_filter): simplify filter logic by using identity matrix for no-transform case (#959) refactor(autoware_crop_box_filter): simplify filter logic by using identity matrix for no-transform case Use identity matrices as default for preprocess/postprocess transforms, eliminating conditional branches in the filter loop. Pre-compute output_frame_id in the constructor to simplify frame_id resolution. Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
fix(autoware_crop_box_filter): fix bugprone-implicit-widening-of-multiplication-result warnings (#911)
-
fix(autoware_crop_box_filter): fix bugprone-narrowing-conversions warnings (#936)
-
refactor(autoware_crop_box_filter): extract CropBoxFilter logic class (#941)
- refactor(autoware_crop_box_filter): rename CropBoxFilter node class to CropBoxFilterNode
- refactor(autoware_crop_box_filter): extract CropBoxFilter logic class
- refactor(autoware_crop_box_filter): remove output_frame from CropBoxFilterConfig
* refactor(autoware_crop_box_filter): remove unnecessary member variables Convert tf_input_orig_frame_ and max_queue_size_ to local variables as they are only used in the constructor.
- test(autoware_crop_box_filter): add unit tests for preprocess and postprocess transform
- refactor(crop_box_filter): rename variable for clarity in transform handling
* refactor(crop_box_filter): simplify transform handling by removing has_value checks ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
-
fix(crop_box_filter): maybe-uninitialized build error (#909) fix(crop_box_filter): initialize CropBoxParam with default values in test Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
-
refactor(crop_box_filter): extract core and add unit tests (#886)
- refactor(autoware_crop_box_filter): extract CropBoxParam and generate_crop_box_polygon to core library
- test(autoware_crop_box_filter): add unit test for generate_crop_box_polygon
- refactor(autoware_crop_box_filter): extract filter_pointcloud logic to core library
- refactor(autoware_crop_box_filter): remove unnecessary includes from crop_box_filter_node.hpp
* refactor(autoware_crop_box_filter): move filter_pointcloud tests to unit test file Move filter_pointcloud() tests from test_crop_box_filter_node.cpp to test_crop_box_filter.cpp since they test core logic, not node behavior.
- refactor(autoware_crop_box_filter): apply AAA pattern and type aliases to filter_pointcloud tests
* refactor(autoware_crop_box_filter): rename negative to keep_outside_box ---------Co-authored-by: Takahisa.Ishikawa
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Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/crop_box_filter_node.launch.xml
-
- input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
- output_topic_name [default: /sensing/lidar/top/self_cropped/pointcloud_ex]
- input_frame [default: base_link]
- output_frame [default: base_link]
- input_pointcloud_frame [default: velodyne_top_base_link]
- crop_box_filter_param_file [default: $(find-pkg-share autoware_crop_box_filter)/config/crop_box_filter_node.param.yaml]