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This is the design document for the off_map_obstacles_filter package.
Provide the core functionality of the off_map_obstacles_filter_nodes package – see its design doc for background.
The core functionality is provided in the form of a member function that deletes bounding boxes that do not have substantial overlap with the map.
A fundamental assumption is that the base_link and map frames' z axes are collinear. Another assumption is that the bounding boxes are only rotated by yaw, not roll or pitch.
See the API documentation.
The algorithm takes the bounding boxes, transforms them to the map frame, and converts them to lanelet::Polygon2ds. Each polygon then fetches potentially-overlapping primitives from the map using a bounding box intersection test. Each of those candidates for overlap is tested with an exact algorithm. lanelet2 integrates well with boost::geometry, so that is used to calculate the overlap percentage.
Error detection isn't really done.
See the Lanelet2 geometry primer.
In the future, we should remove this package entirely.
Issue #840.