From 114b4a0bfb4b7b1a8d045c19fe2573f73c86ccbe Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 8 May 2023 20:18:33 +0900 Subject: [PATCH 1/2] feat(map_loader): visualize hatched road markings Signed-off-by: Takayuki Murooka --- .../lanelet2_map_visualization_node.cpp | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp index 6e94294c0900f..e57c5d3f5370e 100644 --- a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp +++ b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp @@ -121,12 +121,14 @@ void Lanelet2MapVisualizationNode::onMapBin( lanelet::ConstPolygons3d no_obstacle_segmentation_area_for_run_out = lanelet::utils::query::getAllPolygonsByType( viz_lanelet_map, "no_obstacle_segmentation_area_for_run_out"); + lanelet::ConstPolygons3d hatched_road_markings_area = + lanelet::utils::query::getAllPolygonsByType(viz_lanelet_map, "hatched_road_markings"); std_msgs::msg::ColorRGBA cl_road, cl_shoulder, cl_cross, cl_partitions, cl_pedestrian_markings, cl_ll_borders, cl_shoulder_borders, cl_stoplines, cl_trafficlights, cl_detection_areas, cl_speed_bumps, cl_parking_lots, cl_parking_spaces, cl_lanelet_id, cl_obstacle_polygons, cl_no_stopping_areas, cl_no_obstacle_segmentation_area, - cl_no_obstacle_segmentation_area_for_run_out; + cl_no_obstacle_segmentation_area_for_run_out, cl_hatched_road_markings_area; setColor(&cl_road, 0.27, 0.27, 0.27, 0.999); setColor(&cl_shoulder, 0.15, 0.15, 0.15, 0.999); setColor(&cl_cross, 0.27, 0.3, 0.27, 0.5); @@ -145,6 +147,7 @@ void Lanelet2MapVisualizationNode::onMapBin( setColor(&cl_lanelet_id, 0.5, 0.5, 0.5, 0.999); setColor(&cl_no_obstacle_segmentation_area, 0.37, 0.37, 0.27, 0.5); setColor(&cl_no_obstacle_segmentation_area_for_run_out, 0.37, 0.7, 0.27, 0.5); + setColor(&cl_hatched_road_markings_area, 0.3, 0.3, 0.3, 0.5); visualization_msgs::msg::MarkerArray map_marker_array; @@ -219,6 +222,10 @@ void Lanelet2MapVisualizationNode::onMapBin( lanelet::visualization::noObstacleSegmentationAreaForRunOutAsMarkerArray( no_obstacle_segmentation_area_for_run_out, cl_no_obstacle_segmentation_area_for_run_out)); + insertMarkerArray( + &map_marker_array, lanelet::visualization::hatchedRoadMarkingsAreaAsMarkerArray( + hatched_road_markings_area, cl_hatched_road_markings_area)); + pub_marker_->publish(map_marker_array); } From da589fc228c20acf8480f280f31b56a0236f4a4d Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 8 May 2023 21:01:34 +0900 Subject: [PATCH 2/2] update Signed-off-by: Takayuki Murooka --- .../lanelet2_map_visualization_node.cpp | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp index e57c5d3f5370e..fad15948c368f 100644 --- a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp +++ b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp @@ -128,7 +128,8 @@ void Lanelet2MapVisualizationNode::onMapBin( cl_ll_borders, cl_shoulder_borders, cl_stoplines, cl_trafficlights, cl_detection_areas, cl_speed_bumps, cl_parking_lots, cl_parking_spaces, cl_lanelet_id, cl_obstacle_polygons, cl_no_stopping_areas, cl_no_obstacle_segmentation_area, - cl_no_obstacle_segmentation_area_for_run_out, cl_hatched_road_markings_area; + cl_no_obstacle_segmentation_area_for_run_out, cl_hatched_road_markings_area, + cl_hatched_road_markings_line; setColor(&cl_road, 0.27, 0.27, 0.27, 0.999); setColor(&cl_shoulder, 0.15, 0.15, 0.15, 0.999); setColor(&cl_cross, 0.27, 0.3, 0.27, 0.5); @@ -148,6 +149,7 @@ void Lanelet2MapVisualizationNode::onMapBin( setColor(&cl_no_obstacle_segmentation_area, 0.37, 0.37, 0.27, 0.5); setColor(&cl_no_obstacle_segmentation_area_for_run_out, 0.37, 0.7, 0.27, 0.5); setColor(&cl_hatched_road_markings_area, 0.3, 0.3, 0.3, 0.5); + setColor(&cl_hatched_road_markings_line, 0.5, 0.5, 0.5, 0.999); visualization_msgs::msg::MarkerArray map_marker_array; @@ -223,8 +225,9 @@ void Lanelet2MapVisualizationNode::onMapBin( no_obstacle_segmentation_area_for_run_out, cl_no_obstacle_segmentation_area_for_run_out)); insertMarkerArray( - &map_marker_array, lanelet::visualization::hatchedRoadMarkingsAreaAsMarkerArray( - hatched_road_markings_area, cl_hatched_road_markings_area)); + &map_marker_array, + lanelet::visualization::hatchedRoadMarkingsAreaAsMarkerArray( + hatched_road_markings_area, cl_hatched_road_markings_area, cl_hatched_road_markings_line)); pub_marker_->publish(map_marker_array); }