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perf(map_height_fitter): more efficient query to find closest lanelet #7020

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merged 2 commits into from
May 15, 2024
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perf(map_height_fitter): more efficient query to find closest lanelet #7020

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b5d8382
perf(map_height_fitter): more efficient query to find closest lanelet
maxime-clem May 15, 2024
957ac7f
switch to query points instead of lanelets
maxime-clem May 15, 2024
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14 changes: 3 additions & 11 deletions map/map_height_fitter/src/map_height_fitter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -200,20 +200,12 @@ double MapHeightFitter::Impl::get_ground_height(const Point & point) const
}
}
} else if (fit_target_ == "vector_map") {
lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(vector_map_);

geometry_msgs::msg::Pose pose;
pose.position.x = x;
pose.position.y = y;
pose.position.z = 0.0;
lanelet::ConstLanelet closest_lanelet;
const bool result =
lanelet::utils::query::getClosestLanelet(all_lanelets, pose, &closest_lanelet);
if (!result) {
const auto closest_points = vector_map_->pointLayer.nearest(lanelet::BasicPoint2d{x, y}, 1);
if (closest_points.empty()) {
RCLCPP_WARN_STREAM(logger, "failed to get closest lanelet");
return point.z;
}
height = closest_lanelet.centerline().back().z();
height = closest_points.front().z();
}

return std::isfinite(height) ? height : point.z;
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