set roi points label And enhance return logic (#9190)

* set roi points label And enhance return logic

* enhance roi service content

modules/perception/lidar/lib/roi_filter/hdmap_roi_filter/hdmap_roi_filter.cc

@@ -111,13 +111,12 @@ bool HdmapROIFilter::Filter(const ROIFilterOptions& options,
 
   // set roi points label
   if (ret) {
-    /*
-     TODO(all) fix this block
-     for (auto index : frame->roi_indices.indices) {
-        auto& pt_label = frame->cloud->points_label().at(index);
-        pt_label = static_cast<uint8_t>(LidarPointLabel::ROI);
+    for (auto index : frame->roi_indices.indices) {
+      frame->cloud->mutable_points_label()->at(index) =
+                    static_cast<uint8_t>(LidarPointLabel::ROI);
+      frame->world_cloud->mutable_points_label()->at(index) =
+                    static_cast<uint8_t>(LidarPointLabel::ROI);
     }
-    */
   }
 
   // set roi service
@@ -131,6 +130,10 @@ bool HdmapROIFilter::Filter(const ROIFilterOptions& options,
       roi_service_content_.major_dir_ =
           static_cast<ROIServiceContent::DirectionMajor>(bitmap_.dir_major());
       roi_service_content_.transform_ = frame->lidar2world_pose.translation();
+      if (!ret) {
+        std::fill(roi_service_content_.bitmap_.begin(),
+                  roi_service_content_.bitmap_.end(), -1);
+      }
       roi_service->UpdateServiceContent(roi_service_content_);
     } else {
       AINFO << "Failed to find roi service and cannot update.";
@@ -175,9 +178,9 @@ bool HdmapROIFilter::FilterWithPolygonMask(
   }
   bitmap_.SetUp(major_dir);
 
-  DrawPolygonsMask<double>(raw_polygons, &bitmap_, extend_dist_,
-                           no_edge_table_);
-  return Bitmap2dFilter(cloud, bitmap_, roi_indices);
+  return DrawPolygonsMask<double>(raw_polygons, &bitmap_,
+                                  extend_dist_, no_edge_table_) &&
+         Bitmap2dFilter(cloud, bitmap_, roi_indices);
 }
 
 void HdmapROIFilter::TransformFrame(