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feat(intersection, blind_spot): add objects of interest marker #6201

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merged 1 commit into from
Jan 29, 2024
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feat(intersection, blind_spot): add objects of interest marker #6201

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4 changes: 3 additions & 1 deletion planning/behavior_velocity_blind_spot_module/src/scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -348,7 +348,7 @@ bool BlindSpotModule::checkObstacleInBlindSpot(
lanelet::LaneletMapConstPtr lanelet_map_ptr, lanelet::routing::RoutingGraphPtr routing_graph_ptr,
const autoware_auto_planning_msgs::msg::PathWithLaneId & path,
const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr objects_ptr,
const int closest_idx, const geometry_msgs::msg::Pose & stop_line_pose) const
const int closest_idx, const geometry_msgs::msg::Pose & stop_line_pose)
{
/* get detection area */
if (turn_direction_ == TurnDirection::INVALID) {
Expand Down Expand Up @@ -409,6 +409,8 @@ bool BlindSpotModule::checkObstacleInBlindSpot(
exist_in_right_conflict_area || exist_in_opposite_conflict_area;
if (exist_in_detection_area && exist_in_conflict_area) {
debug_data_.conflicting_targets.objects.push_back(object);
setObjectsOfInterestData(
object.kinematics.initial_pose_with_covariance.pose, object.shape, ColorName::RED);
return true;
}
}
Expand Down
2 changes: 1 addition & 1 deletion planning/behavior_velocity_blind_spot_module/src/scene.hpp
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Expand Up @@ -113,7 +113,7 @@ class BlindSpotModule : public SceneModuleInterface
lanelet::routing::RoutingGraphPtr routing_graph_ptr,
const autoware_auto_planning_msgs::msg::PathWithLaneId & path,
const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr objects_ptr,
const int closest_idx, const geometry_msgs::msg::Pose & stop_line_pose) const;
const int closest_idx, const geometry_msgs::msg::Pose & stop_line_pose);

/**
* @brief Create half lanelet
Expand Down
5 changes: 4 additions & 1 deletion planning/behavior_velocity_intersection_module/src/scene_intersection_collision.cpp
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Expand Up @@ -621,6 +621,9 @@ IntersectionModule::CollisionStatus IntersectionModule::detectCollision(
continue;
}
const auto & unsafe_info = object_info->is_unsafe().value();
setObjectsOfInterestData(
object_info->predicted_object().kinematics.initial_pose_with_covariance.pose,
object_info->predicted_object().shape, ColorName::RED);
// ==========================================================================================
// if ego is over the pass judge lines, then the visualization as "too_late_objects" or
// "misjudge_objects" is more important than that for "unsafe"
Expand Down Expand Up @@ -910,7 +913,7 @@ bool IntersectionModule::checkCollision(
}
}
object_ttc_time_array.layout.dim.at(0).size++;
const auto & pos = object.kinematics.initial_pose_with_covariance.pose.position;
const auto & pos = object..position;
const auto & shape = object.shape;
object_ttc_time_array.data.insert(
object_ttc_time_array.data.end(),
Expand Down