feat(behavior_velocity): add object to occupancy grid #7

taikitanaka3 · 2022-03-18T11:07:33Z

Draft

worst case time is millisec

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

github-actions

⚠️ clang-tidy found issue(s) with the introduced code (1/2)

github-actions · 2022-03-18T14:02:01Z

planning/behavior_velocity_planner/include/scene_module/occlusion_spot/grid_utils.hpp

@@ -81,7 +83,7 @@ void toQuantizedImage(
  const nav_msgs::msg::OccupancyGrid & occupancy_grid, cv::Mat * cv_image, const GridParam & param);
 void denoiseOccupancyGridCV(
  nav_msgs::msg::OccupancyGrid & occupancy_grid, grid_map::GridMap & grid_map,
-  const GridParam & param);
+  const GridParam & param, const bool is_show_debug_window);
 }  // namespace grid_utils


⚠️ modernize-concat-nested-namespaces ⚠️
nested namespaces can be concatenated

Suggested change

} // namespace grid_utils

}

planning/behavior_velocity_planner/src/scene_module/occlusion_spot/grid_utils.cpp

github-actions · 2022-03-18T14:02:02Z

planning/behavior_velocity_planner/src/scene_module/occlusion_spot/grid_utils.cpp

@@ -197,16 +206,21 @@ void toQuantizedImage(
 }
 void denoiseOccupancyGridCV(
  nav_msgs::msg::OccupancyGrid & occupancy_grid, grid_map::GridMap & grid_map,
-  const GridParam & param)
+  const GridParam & param, const bool is_show_debug_window)
 {
  cv::Mat cv_image(
    occupancy_grid.info.width, occupancy_grid.info.height, CV_8UC1,


⚠️ hicpp-signed-bitwise ⚠️
use of a signed integer operand with a binary bitwise operator

planning/behavior_velocity_planner/include/scene_module/occlusion_spot/scene_occlusion_spot.hpp

planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot.cpp

planning/behavior_velocity_planner/include/scene_module/occlusion_spot/scene_occlusion_spot.hpp

github-actions

⚠️ clang-tidy found issue(s) with the introduced code (2/2)

planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot.cpp

github-actions

⚠️ clang-tidy found issue(s) with the introduced code (1/1)

github-actions · 2022-03-19T06:21:42Z

planning/behavior_velocity_planner/src/scene_module/occlusion_spot/grid_utils.cpp

 {
  cv::Mat cv_image(
    occupancy_grid.info.width, occupancy_grid.info.height, CV_8UC1,
    cv::Scalar(grid_utils::occlusion_cost_value::OCCUPIED));
+  cv::Mat cv_canny(
+    occupancy_grid.info.width, occupancy_grid.info.height, CV_8UC1,


⚠️ hicpp-signed-bitwise ⚠️
use of a signed integer operand with a binary bitwise operator

taikitanaka3 · 2022-03-19T11:21:42Z

planning/behavior_velocity_planner/src/scene_module/occlusion_spot/grid_utils.cpp

@@ -168,7 +168,16 @@ void imageToOccupancyGrid(const cv::Mat & cv_image, nav_msgs::msg::OccupancyGrid
  for (int x = width - 1; x >= 0; x--) {


interation 200*200

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

…sion judgement Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

taikitanaka3 · 2022-03-22T10:30:51Z

planning/behavior_velocity_planner/src/scene_module/occlusion_spot/grid_utils.cpp

-        intensity = grid_utils::occlusion_cost_value::FREE_SPACE;
+      unsigned char intensity = occupancy_grid.data.at(idx);
+      if (intensity <= param.free_space_max) {
+        intensity = grid_utils::occlusion_cost_value::FREE_SPACE_IMAGE;


for apply morphologyEx(dilate and erode) more accurately

taikitanaka3 · 2022-03-22T10:31:19Z

planning/behavior_velocity_planner/src/scene_module/occlusion_spot/occlusion_spot_utils.cpp

@@ -453,16 +453,16 @@ boost::optional<PossibleCollisionInfo> generateOneNotableCollisionFromOcclusionS
    bool collision_free_at_intersection =
      grid_utils::isCollisionFree(grid, occlusion_spot_position, grid_map::Position(ip.x, ip.y));
    bool obstacle_not_blocked_by_partition = true;
+    if (!collision_free_at_intersection) continue;


early continue

taikitanaka3 · 2022-03-22T10:32:02Z

planning/behavior_velocity_planner/CMakeLists.txt

@@ -218,13 +218,31 @@ target_link_libraries(scene_module_virtual_traffic_light scene_module_lib)


 # SceneModule OcclusionSpot
-ament_auto_add_library(scene_module_occlusion_spot SHARED
+# Util
+ament_auto_add_library(occlusion_spot_lib SHARED


for faster compiling

taikitanaka3 · 2022-03-22T10:32:23Z

planning/behavior_velocity_planner/include/scene_module/occlusion_spot/occlusion_spot_utils.hpp

@@ -112,8 +112,12 @@ struct PlannerParam
 {
  DETECTION_METHOD detection_method;
  PASS_JUDGE pass_judge;
-  bool debug;                  // [-]
-  bool use_partition_lanelet;  // [-]
+  bool is_show_occlusion;        // [-]


readability

taikitanaka3 · 2022-03-22T10:32:55Z

planning/behavior_velocity_planner/src/scene_module/occlusion_spot/grid_utils.cpp

@@ -23,6 +23,44 @@ namespace behavior_velocity_planner
 {
 namespace grid_utils
 {
+
+Polygon2d pointsToPoly(const Point2d p0, const Point2d p1, const double thickness)


feature polygon judgement

…er data Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

…iment Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

github-actions

⚠️ clang-tidy found issue(s) with the introduced code (1/1)

github-actions · 2022-03-23T05:49:21Z

planning/behavior_velocity_planner/src/scene_module/occlusion_spot/grid_utils.cpp

+    const auto & obj_label = obj.classification.at(0).label;
+    using autoware_auto_perception_msgs::msg::ObjectClassification;
+    if (
+      obj_label != ObjectClassification::CAR || obj_label != ObjectClassification::TRUCK ||


⚠️ misc-redundant-expression ⚠️
logical expression is always true

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

github-actions

⚠️ clang-tidy found issue(s) with the introduced code (1/1)

github-actions · 2022-03-23T13:23:23Z

planning/behavior_velocity_planner/test/src/test_grid_utils.cpp

+  return line_poly;
+}
+
+TEST(compareTime, polygon_vs_line_iterator)


⚠️ cppcoreguidelines-special-member-functions ⚠️
class compareTime_polygon_vs_line_iterator_Test defines a copy constructor and a copy assignment operator but does not define a destructor, a move constructor or a move assignment operator

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

github-actions

⚠️ clang-tidy found issue(s) with the introduced code (1/1)

github-actions · 2022-03-25T11:10:18Z

planning/behavior_velocity_planner/src/utilization/util.cpp

+      close_partition.emplace_back(p);
+    }
+  }
+  return;


⚠️ readability-redundant-control-flow ⚠️
redundant return statement at the end of a function with a void return type

Suggested change

return;

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

github-actions

⚠️ clang-tidy found issue(s) with the introduced code (1/1)

github-actions · 2022-03-27T16:36:51Z

planning/behavior_velocity_planner/src/scene_module/occlusion_spot/grid_utils.cpp

+}
+
+std::vector<std::pair<grid_map::Position, grid_map::Position>> pointsToRays(
+  const grid_map::Position p0, const grid_map::Position p1, const double radius)


⚠️ performance-unnecessary-value-param ⚠️
the const qualified parameter p0 is copied for each invocation; consider making it a reference

Suggested change

const grid_map::Position p0, const grid_map::Position p1, const double radius)

const grid_map::Position& p0, const grid_map::Position p1, const double radius)

github-actions · 2022-03-27T16:36:52Z

planning/behavior_velocity_planner/src/scene_module/occlusion_spot/grid_utils.cpp

+}
+
+std::vector<std::pair<grid_map::Position, grid_map::Position>> pointsToRays(
+  const grid_map::Position p0, const grid_map::Position p1, const double radius)


⚠️ performance-unnecessary-value-param ⚠️
the const qualified parameter p1 is copied for each invocation; consider making it a reference

Suggested change

const grid_map::Position p0, const grid_map::Position p1, const double radius)

const grid_map::Position p0, const grid_map::Position& p1, const double radius)

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

feature(behavior_velocity): update grid map utils

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taikitanaka3 commented Mar 19, 2022

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taikitanaka3 force-pushed the 258-feat-behavior-velocity-update-occ-grid branch from 5e1136a to c959745 Compare March 20, 2022 16:28

taikitanaka3 added 3 commits March 22, 2022 10:56

feat(behavior_velocity): remove unused

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feat(behavior_velocity): early continue

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feat(behavior_velocity): add object info to occ grid and update colli…

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…sion judgement Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

taikitanaka3 changed the title ~~258 feat behavior velocity update occ grid~~ feat(behavior_velocity): add object to occupancy grid Mar 22, 2022

feat(behavior_velocity): add debug options

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taikitanaka3 force-pushed the 258-feat-behavior-velocity-update-occ-grid branch from c959745 to 675f532 Compare March 22, 2022 10:26

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taikitanaka3 added 5 commits March 23, 2022 00:46

chore(behavior_velocity): replace to planning utils

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chore(behavior_velocity): parametrize pedestrian radius and use plann…

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…er data Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

chore(behavior_velocity): update doc and minor change

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chore(behavior_velocity): minor change

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chore(behavior_velocity): update docs and update parameter from exper…

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taikitanaka3 added 4 commits March 23, 2022 16:23

feat(behavior_velocity): add compare polygon iterator and line iterator

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chore(behavior_velocity): reduce test verbose

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chore(behavior_velocity): to silent g-test

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chore(behavior_velocity): chores

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taikitanaka3 added 2 commits March 24, 2022 14:39

feat(behavior_velocity): add offset from front bumper

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chore(behavior_velocity): use clippled path as marker

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feat(behavior_velocity): add extract close partition

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taikitanaka3 force-pushed the 258-feat-behavior-velocity-update-occ-grid branch from 6a54f33 to 38e805f Compare March 25, 2022 07:33

taikitanaka3 added 2 commits March 25, 2022 16:37

fix(behavior_velocity): fix remaining

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chore(behavior_velocity): update debug marker

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feat(behavior_velocity): add ray option and tune param

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fix(behavior_velocity): fix predicted path

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taikitanaka3 closed this Mar 28, 2022

taikitanaka3 deleted the 258-feat-behavior-velocity-update-occ-grid branch April 13, 2022 09:54

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feat(behavior_velocity): add object to occupancy grid #7

feat(behavior_velocity): add object to occupancy grid #7

taikitanaka3 commented Mar 18, 2022 •

edited

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		@@ -168,7 +168,16 @@ void imageToOccupancyGrid(const cv::Mat & cv_image, nav_msgs::msg::OccupancyGrid
		for (int x = width - 1; x >= 0; x--) {

	const grid_map::Position p0, const grid_map::Position p1, const double radius)
	const grid_map::Position& p0, const grid_map::Position p1, const double radius)

feat(behavior_velocity): add object to occupancy grid #7

feat(behavior_velocity): add object to occupancy grid #7

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taikitanaka3 commented Mar 18, 2022 •

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