feat: add line_width property to object display (tier4#1206)

* feat: add line_width property to object display

Signed-off-by: tomoya.kimura <[email protected]>

* remove default value

Signed-off-by: tomoya.kimura <[email protected]>

* add the description of parameter

Signed-off-by: tomoya.kimura <[email protected]>

common/autoware_auto_perception_rviz_plugin/include/object_detection/object_polygon_detail.hpp

@@ -75,12 +75,13 @@ const std::map<
 /// \param centroid Centroid position of the shape in Object.header.frame_id frame
 /// \param orientation Orientation of the shape in Object.header.frame_id frame
 /// \param color_rgba Color and alpha values to use for the marker
+/// \param line_width Line thickness around the object
 /// \return Marker ptr. Id and header will have to be set by the caller
 AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
 get_shape_marker_ptr(
   const autoware_auto_perception_msgs::msg::Shape & shape_msg,
   const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
-  const std_msgs::msg::ColorRGBA & color_rgba);
+  const std_msgs::msg::ColorRGBA & color_rgba, const double & line_width);
 
 /// \brief Convert the given polygon into a marker representing the shape in 3d
 /// \param centroid Centroid position of the shape in Object.header.frame_id frame

common/autoware_auto_perception_rviz_plugin/include/object_detection/object_polygon_display_base.hpp

@@ -74,6 +74,7 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
     m_display_path_confidence_property{
       "Display Predicted Path Confidence", true, "Enable/disable predicted paths visualization",
       this},
+    m_line_width_property{"Line Width", 0.03, "Line width of object-shape", this},
     m_default_topic{default_topic}
   {
     // iterate over default values to create and initialize the properties.
@@ -133,17 +134,18 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
   /// \param centroid Centroid position of the shape in Object.header.frame_id frame
   /// \param orientation Orientation of the shape in Object.header.frame_id frame
   /// \param labels List of ObjectClassificationMsg objects
+  /// \param line_width Line thickness around the object
   /// \return Marker ptr. Id and header will have to be set by the caller
   template <typename ClassificationContainerT>
   std::optional<Marker::SharedPtr> get_shape_marker_ptr(
     const autoware_auto_perception_msgs::msg::Shape & shape_msg,
     const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
-    const ClassificationContainerT & labels) const
+    const ClassificationContainerT & labels, const double & line_width) const
   {
     const std_msgs::msg::ColorRGBA color_rgba = get_color_rgba(labels);
 
     if (m_display_3d_property.getBool()) {
-      return detail::get_shape_marker_ptr(shape_msg, centroid, orientation, color_rgba);
+      return detail::get_shape_marker_ptr(shape_msg, centroid, orientation, color_rgba, line_width);
     } else {
       return std::nullopt;
     }
@@ -335,6 +337,8 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
     colors.push_back(sample_color);  // spring green
   }
 
+  double get_line_width() { return m_line_width_property.getFloat(); }
+
 private:
   // All rviz plugins should have this. Should be initialized with pointer to this class
   MarkerCommon m_marker_common;
@@ -358,6 +362,8 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
   rviz_common::properties::BoolProperty m_display_predicted_paths_property;
   // Property to enable/disable predicted path confidence visualization
   rviz_common::properties::BoolProperty m_display_path_confidence_property;
+  // Property to decide line width of object shape
+  rviz_common::properties::FloatProperty m_line_width_property;
   // Default topic name to be visualized
   std::string m_default_topic;
 

common/autoware_auto_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp

@@ -34,7 +34,8 @@ void DetectedObjectsDisplay::processMessage(DetectedObjects::ConstSharedPtr msg)
     // Get marker for shape
     auto shape_marker = get_shape_marker_ptr(
       object.shape, object.kinematics.pose_with_covariance.pose.position,
-      object.kinematics.pose_with_covariance.pose.orientation, object.classification);
+      object.kinematics.pose_with_covariance.pose.orientation, object.classification,
+      get_line_width());
     if (shape_marker) {
       auto shape_marker_ptr = shape_marker.value();
       shape_marker_ptr->header = msg->header;

common/autoware_auto_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp

@@ -212,7 +212,7 @@ visualization_msgs::msg::Marker::SharedPtr get_label_marker_ptr(
 visualization_msgs::msg::Marker::SharedPtr get_shape_marker_ptr(
   const autoware_auto_perception_msgs::msg::Shape & shape_msg,
   const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
-  const std_msgs::msg::ColorRGBA & color_rgba)
+  const std_msgs::msg::ColorRGBA & color_rgba, const double & line_width)
 {
   auto marker_ptr = std::make_shared<Marker>();
   marker_ptr->ns = std::string("shape");
@@ -235,7 +235,7 @@ visualization_msgs::msg::Marker::SharedPtr get_shape_marker_ptr(
   marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
   marker_ptr->pose = to_pose(centroid, orientation);
   marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.2);
-  marker_ptr->scale.x = 0.03;
+  marker_ptr->scale.x = line_width;
   marker_ptr->color = color_rgba;
 
   return marker_ptr;

common/autoware_auto_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp

@@ -33,7 +33,8 @@ void PredictedObjectsDisplay::processMessage(PredictedObjects::ConstSharedPtr ms
     // Get marker for shape
     auto shape_marker = get_shape_marker_ptr(
       object.shape, object.kinematics.initial_pose_with_covariance.pose.position,
-      object.kinematics.initial_pose_with_covariance.pose.orientation, object.classification);
+      object.kinematics.initial_pose_with_covariance.pose.orientation, object.classification,
+      get_line_width());
     if (shape_marker) {
       auto shape_marker_ptr = shape_marker.value();
       shape_marker_ptr->header = msg->header;

common/autoware_auto_perception_rviz_plugin/src/object_detection/tracked_objects_display.cpp

@@ -35,7 +35,8 @@ void TrackedObjectsDisplay::processMessage(TrackedObjects::ConstSharedPtr msg)
     // Get marker for shape
     auto shape_marker = get_shape_marker_ptr(
       object.shape, object.kinematics.pose_with_covariance.pose.position,
-      object.kinematics.pose_with_covariance.pose.orientation, object.classification);
+      object.kinematics.pose_with_covariance.pose.orientation, object.classification,
+      get_line_width());
     if (shape_marker) {
       auto shape_marker_ptr = shape_marker.value();
       shape_marker_ptr->header = msg->header;