feat(intersection): use intersection_area if available

[soblin]

Description

If the intersection_area is set at the intersection and each lanelet is associated with it, use it for detection.

• if not set, use detection_area_with_margin as before
• if set, use intersection_area additionally

If area is available it will be visualized as the debug marker.

How it works

• if the object is in intersection_area
  • if it is in adjacent_lanes, it is not detected
  • else it is detected
• else if it is in detection_area, detect this

Tests performed

In the movie if the object is in adjacent_lanes (orange aera) it is not detected in intersection module. Otherwise it is detected if it is in intersectsion_area (in most cases its prediction path does not collide with ego's path).

intersection_area_adjacnet_lanes-2022-09-05_23.33.15.mp4

Notes

• removed marker for detection_area_with_margin
• parameter PR: feat(behavior_path_planner): add yaw threshold param (#1040) tier4/autoware_launch#467

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Base: 10.35% // Head: 10.04% // Decreases project coverage by -0.30% ⚠️

Coverage data is based on head (2640ddb) compared to base (d181522).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1733      +/-   ##
==========================================
- Coverage   10.35%   10.04%   -0.31%     
==========================================
  Files        1146     1255     +109     
  Lines       81448    90514    +9066     
  Branches    19003    20662    +1659     
==========================================
+ Hits         8433     9094     +661     
- Misses      63895    72006    +8111     
- Partials     9120     9414     +294     

Flag	Coverage Δ		*Carryforward flag
differential	4.26% <0.00%> (?)
total	10.07% <0.00%> (-0.27%)	⬇️	Carriedforward from 0bf3bf8

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...ty_planner/src/scene_module/intersection/debug.cpp	0.00% <0.00%> (ø)
...c/scene_module/intersection/scene_intersection.cpp	0.00% <0.00%> (ø)
...ule/intersection/scene_merge_from_private_road.cpp	0.00% <0.00%> (ø)
...ity_planner/src/scene_module/intersection/util.cpp	0.00% <0.00%> (ø)
perception/tensorrt_yolo/src/nodelet.cpp	0.00% <0.00%> (ø)
perception/lidar_centerpoint/src/node.cpp	0.00% <0.00%> (ø)
perception/tensorrt_yolo/lib/src/trt_yolo.cpp	0.00% <0.00%> (ø)
...ontrol/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp	70.90% <0.00%> (ø)
...erception/tensorrt_yolo/lib/include/calibrator.hpp	0.00% <0.00%> (ø)
...erception/tensorrt_yolo/lib/include/cuda_utils.hpp	0.00% <0.00%> (ø)
... and 163 more

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

☔ View full report at Codecov.
📢 Do you have feedback about the report comment? Let us know in this issue.

[1222-takeshi]

LGTM

[soblin]

cc: @kyoichi-sugahara

[kyoichi-sugahara]

LGTM