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fix(detected_object_validation): consider shoulder lanelet in object lanelet filter #5324

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merged 2 commits into from
Oct 18, 2023
Merged

fix(detected_object_validation): consider shoulder lanelet in object lanelet filter #5324

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4c13b4e
fix(detected_object_validation): consider shoulder lanelet in object …
shmpwk Oct 16, 2023
816426e
style(pre-commit): autofix
pre-commit-ci[bot] Oct 18, 2023
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1 change: 1 addition & 0 deletions ...ption/detected_object_validation/include/detected_object_filter/object_lanelet_filter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,7 @@ class ObjectLaneletFilterNode : public rclcpp::Node

lanelet::LaneletMapPtr lanelet_map_ptr_;
lanelet::ConstLanelets road_lanelets_;
lanelet::ConstLanelets shoulder_lanelets_;
std::string lanelet_frame_id_;

tf2_ros::Buffer tf_buffer_;
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9 changes: 7 additions & 2 deletions perception/detected_object_validation/src/object_lanelet_filter.cpp
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Expand Up @@ -62,6 +62,7 @@ void ObjectLaneletFilterNode::mapCallback(
lanelet::utils::conversion::fromBinMsg(*map_msg, lanelet_map_ptr_);
const lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map_ptr_);
road_lanelets_ = lanelet::utils::query::roadLanelets(all_lanelets);
shoulder_lanelets_ = lanelet::utils::query::shoulderLanelets(all_lanelets);
}

void ObjectLaneletFilterNode::objectCallback(
Expand All @@ -87,7 +88,8 @@ void ObjectLaneletFilterNode::objectCallback(
// calculate convex hull
const auto convex_hull = getConvexHull(transformed_objects);
// get intersected lanelets
lanelet::ConstLanelets intersected_lanelets = getIntersectedLanelets(convex_hull, road_lanelets_);
lanelet::ConstLanelets intersected_road_lanelets = getIntersectedLanelets(convex_hull, road_lanelets_);
lanelet::ConstLanelets intersected_shoulder_lanelets = getIntersectedLanelets(convex_hull, shoulder_lanelets_);

int index = 0;
for (const auto & object : transformed_objects.objects) {
Expand All @@ -101,7 +103,10 @@ void ObjectLaneletFilterNode::objectCallback(
polygon.outer().emplace_back(point_transformed.x, point_transformed.y);
}
polygon.outer().push_back(polygon.outer().front());
if (isPolygonOverlapLanelets(polygon, intersected_lanelets)) {
if (isPolygonOverlapLanelets(polygon, intersected_road_lanelets)) {
output_object_msg.objects.emplace_back(input_msg->objects.at(index));
}
else if (isPolygonOverlapLanelets(polygon, intersected_shoulder_lanelets)) {
output_object_msg.objects.emplace_back(input_msg->objects.at(index));
}
} else {
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