refactor(autoware_pointcloud_preprocessor): rework vector map inside area filter parameters

sensing/autoware_pointcloud_preprocessor/CMakeLists.txt

@@ -83,7 +83,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
   src/distortion_corrector/distortion_corrector_node.cpp
   src/blockage_diag/blockage_diag_node.cpp
   src/polygon_remover/polygon_remover.cpp
-  src/vector_map_filter/vector_map_inside_area_filter.cpp
+  src/vector_map_filter/vector_map_inside_area_filter_node.cpp
   src/utility/geometry.cpp
 )
 

sensing/autoware_pointcloud_preprocessor/config/vector_map_inside_area_filter_node.param.yaml

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    polygon_type: "no_obstacle_segmentation_area"
+    use_z_filter: false
+    z_threshold: 0.0

sensing/autoware_pointcloud_preprocessor/docs/vector-map-inside-area-filter.md

@@ -33,10 +33,6 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,
 
 ### Core Parameters
 
-| Name           | Type   | Description                 |
-| -------------- | ------ | --------------------------- |
-| `polygon_type` | string | polygon type to be filtered |
-| `use_z`        | bool   | use z value for filtering   |
-| `z_threshold`  | float  | z threshold for filtering   |
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/vector_map_inside_area_filter_node.schema.json") }}
 
 ## Assumptions / Known limits

sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp → sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter_node.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__VECTOR_MAP_INSIDE_AREA_FILTER_HPP_
-#define AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__VECTOR_MAP_INSIDE_AREA_FILTER_HPP_
+#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__VECTOR_MAP_INSIDE_AREA_FILTER_NODE_HPP_  // NOLINT
+#define AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__VECTOR_MAP_INSIDE_AREA_FILTER_NODE_HPP_  // NOLINT
 
 #include "autoware/pointcloud_preprocessor/filter.hpp"
 #include "autoware/pointcloud_preprocessor/utility/geometry.hpp"
@@ -58,4 +58,6 @@ class VectorMapInsideAreaFilterComponent : public autoware::pointcloud_preproces
 
 }  // namespace autoware::pointcloud_preprocessor
 
-#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__VECTOR_MAP_INSIDE_AREA_FILTER_HPP_
+// clang-format off
+#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__VECTOR_MAP_INSIDE_AREA_FILTER_NODE_HPP_  // NOLINT
+// clang-format on

sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml

@@ -0,0 +1,14 @@
+<launch>
+  <arg name="input_vector_map" default="/map/vector_map"/>
+  <arg name="input_pointcloud" default="compare_map_filtered/pointcloud"/>
+  <arg name="ouput_pointcloud" default="vector_map_inside_area_filtered/pointcloud"/>
+  <arg name="vector_map_inside_area_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/vector_map_inside_area_filter_node.param.yaml"/>
+  <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
+  <node pkg="autoware_pointcloud_preprocessor" exec="vector_map_inside_area_filter_node" name="vector_map_inside_area_filter_node">
+    <param from="$(var vector_map_inside_area_filter_param_file)"/>
+    <param from="$(var filter_param_file)"/>
+    <remap from="input/vector_map" to="$(var input_vector_map)"/>
+    <remap from="input" to="$(var input_pointcloud)"/>
+    <remap from="output" to="$(var ouput_pointcloud)"/>
+  </node>
+</launch>

sensing/autoware_pointcloud_preprocessor/schema/vector_map_inside_area_filter_node.schema.json

@@ -0,0 +1,43 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Vector Map Inside Area Filter Node",
+  "type": "object",
+  "definitions": {
+    "vector_map_inside_area_filter": {
+      "type": "object",
+      "properties": {
+        "polygon_type": {
+          "type": "string",
+          "description": "polygon type to be filtered",
+          "default": "no_obstacle_segmentation_area"
+        },
+        "use_z_filter": {
+          "type": "boolean",
+          "description": "use z value for filtering",
+          "default": "false"
+        },
+        "z_threshold": {
+          "type": "number",
+          "description": "z threshold for filtering",
+          "default": "0.0"
+        }
+      },
+      "required": ["polygon_type", "use_z_filter", "z_threshold"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/vector_map_inside_area_filter"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}

sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter.cpp → sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter_node.cpp

@@ -1,4 +1,4 @@
-// Copyright 2022 Tier IV, Inc.
+// Copyright 2024 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp"
+#include "autoware/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter_node.hpp"
 
 namespace
 {
@@ -67,8 +67,7 @@ VectorMapInsideAreaFilterComponent::VectorMapInsideAreaFilterComponent(
   const rclcpp::NodeOptions & node_options)
 : Filter("VectorMapInsideAreaFilter", node_options)
 {
-  polygon_type_ =
-    static_cast<std::string>(declare_parameter("polygon_type", "no_obstacle_segmentation_area"));
+  polygon_type_ = declare_parameter<std::string>("polygon_type");
 
   using std::placeholders::_1;
   // Set subscriber
@@ -77,8 +76,8 @@ VectorMapInsideAreaFilterComponent::VectorMapInsideAreaFilterComponent(
     std::bind(&VectorMapInsideAreaFilterComponent::mapCallback, this, _1));
 
   // Set parameters
-  use_z_filter_ = declare_parameter<bool>("use_z_filter", false);
-  z_threshold_ = declare_parameter<float>("z_threshold", 0.0f);  // defined in the base_link frame
+  use_z_filter_ = declare_parameter<bool>("use_z_filter");
+  z_threshold_ = declare_parameter<float>("z_threshold");  // defined in the base_link frame
 
   // Set tf
   {