From dce96492ebacfdefe899b38b4e78e1b6e9881677 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Wed, 25 Oct 2023 09:08:25 +0900 Subject: [PATCH] feat(map_loader): show intersection areas Signed-off-by: satoshi-ota --- .../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 53794fb93b7c6..7fea3088f583a 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 @@ -125,6 +125,8 @@ void Lanelet2MapVisualizationNode::onMapBin( 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"); + lanelet::ConstPolygons3d intersection_areas = + lanelet::utils::query::getAllPolygonsByType(viz_lanelet_map, "intersection_area"); std::vector no_parking_reg_elems = lanelet::utils::query::noParkingAreas(all_lanelets); @@ -133,7 +135,7 @@ void Lanelet2MapVisualizationNode::onMapBin( cl_speed_bumps, cl_crosswalks, 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_hatched_road_markings_line, cl_no_parking_areas; + cl_hatched_road_markings_line, cl_no_parking_areas, cl_intersection_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); @@ -156,6 +158,7 @@ void Lanelet2MapVisualizationNode::onMapBin( 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); setColor(&cl_no_parking_areas, 0.42, 0.42, 0.42, 0.5); + setColor(&cl_intersection_area, 0.16, 1.0, 0.69, 0.5); visualization_msgs::msg::MarkerArray map_marker_array; @@ -242,6 +245,10 @@ void Lanelet2MapVisualizationNode::onMapBin( &map_marker_array, lanelet::visualization::noParkingAreasAsMarkerArray(no_parking_reg_elems, cl_no_parking_areas)); + insertMarkerArray( + &map_marker_array, lanelet::visualization::intersectionAreaAsMarkerArray( + intersection_areas, cl_intersection_area)); + pub_marker_->publish(map_marker_array); }