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Exclude LiDAR occluded object on OccupancyGrid #1227

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merged 4 commits into from
Apr 18, 2024
Merged

Exclude LiDAR occluded object on OccupancyGrid #1227

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49fb3a1
Exclude LiDAR occluded object from OccupancyGrid in simple_sensor_sim…
f0reachARR Apr 11, 2024
0592f40
Fix spell
f0reachARR Apr 11, 2024
8530181
Merge branch 'master' into fix/occluded-object-in-grid
HansRobo Apr 17, 2024
99f7276
Merge branch 'master' into fix/occluded-object-in-grid
f0reachARR Apr 18, 2024
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2 changes: 1 addition & 1 deletion ...r/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,7 +89,7 @@ class DetectionSensor : public DetectionSensorBase

auto update(
const double, const std::vector<traffic_simulator_msgs::EntityStatus> &, const rclcpp::Time &,
const std::vector<std::string> & lidar_detected_entity) -> void override;
const std::vector<std::string> & lidar_detected_entities) -> void override;
};
} // namespace simple_sensor_simulator

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6 changes: 4 additions & 2 deletions ...nclude/simple_sensor_simulator/sensor_simulation/occupancy_grid/occupancy_grid_sensor.hpp
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Expand Up @@ -58,10 +58,12 @@ class OccupancyGridSensorBase

/**
* @brief List all objects in range of sensor sight
* @warning `status` must contain EGO object
* @return names of objects in range of sensor sight
*/
const std::vector<std::string> getDetectedObjects(
const std::vector<traffic_simulator_msgs::EntityStatus> &) const;
const std::vector<traffic_simulator_msgs::EntityStatus> & status,
const std::vector<std::string> & lidar_detected_entities) const;

/**
* @brief Extract sensor pose from entity statuses
Expand Down Expand Up @@ -124,7 +126,7 @@ class OccupancyGridSensor : public OccupancyGridSensorBase
template <>
auto OccupancyGridSensor<nav_msgs::msg::OccupancyGrid>::getOccupancyGrid(
const std::vector<traffic_simulator_msgs::EntityStatus> & status, const rclcpp::Time & stamp,
const std::vector<std::string> & lidar_detected_entity) -> nav_msgs::msg::OccupancyGrid;
const std::vector<std::string> & lidar_detected_entities) -> nav_msgs::msg::OccupancyGrid;
} // namespace simple_sensor_simulator

#endif // SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__OCCUPANCY_GRID__OCCUPANCY_GRID_SENSOR_HPP_
17 changes: 13 additions & 4 deletions ...on/simple_sensor_simulator/src/sensor_simulation/occupancy_grid/occupancy_grid_sensor.cpp
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Expand Up @@ -14,6 +14,7 @@

#include <quaternion_operation/quaternion_operation.h>

#include <algorithm>
#include <memory>
#include <nav_msgs/msg/occupancy_grid.hpp>
#include <optional>
Expand All @@ -39,11 +40,19 @@ geometry_msgs::Pose OccupancyGridSensorBase::getSensorPose(
}

const std::vector<std::string> OccupancyGridSensorBase::getDetectedObjects(
const std::vector<traffic_simulator_msgs::EntityStatus> & status) const
const std::vector<traffic_simulator_msgs::EntityStatus> & status,
const std::vector<std::string> & lidar_detected_entities) const
{
std::vector<std::string> detected_entities;
const auto pose = getSensorPose(status);
for (const auto & s : status) {
if (const auto has_detected =
std::find(lidar_detected_entities.begin(), lidar_detected_entities.end(), s.name()) !=
lidar_detected_entities.end();
!has_detected) {
continue;
}

double distance = std::hypot(
s.pose().position().x() - pose.position().x(), s.pose().position().y() - pose.position().y(),
s.pose().position().z() - pose.position().z());
Expand All @@ -57,7 +66,7 @@ const std::vector<std::string> OccupancyGridSensorBase::getDetectedObjects(
template <>
auto OccupancyGridSensor<nav_msgs::msg::OccupancyGrid>::getOccupancyGrid(
const std::vector<traffic_simulator_msgs::EntityStatus> & status, const rclcpp::Time & stamp,
const std::vector<std::string> & lidar_detected_entity) -> nav_msgs::msg::OccupancyGrid
const std::vector<std::string> & lidar_detected_entities) -> nav_msgs::msg::OccupancyGrid
{
// check if entities in `status` have unique names
{
Expand Down Expand Up @@ -96,10 +105,10 @@ auto OccupancyGridSensor<nav_msgs::msg::OccupancyGrid>::getOccupancyGrid(
auto detected_entities = std::set<std::string>();
{
if (configuration_.filter_by_range()) {
auto v = getDetectedObjects(status);
auto v = getDetectedObjects(status, lidar_detected_entities);
detected_entities.insert(v.begin(), v.end());
} else {
detected_entities.insert(lidar_detected_entity.begin(), lidar_detected_entity.end());
detected_entities.insert(lidar_detected_entities.begin(), lidar_detected_entities.end());
}
}

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