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Objects Of Interest Marker Interface#

Overview#

autoware_objects_of_interest_marker_interface is a collection of object visualization function packages.

Design#

This package implement a library to manage and visualize the object information by construct and publish it as marker array to rviz.

For a object to be visualized, it has three import characteristics.

  • pose the position of the object
  • shape the shape of the Bounding box of the object
  • color the color of the Bounding box of the object

Usage#

init#

include the header file to use then init the library

#include <autoware/objects_of_interest_marker_interface/objects_of_interest_marker_interface.hpp>

autoware::objects_of_interest_marker_interface::ObjectsOfInterestMarkerInterface
    objects_of_interest_marker_interface_{this, "obstacle_cruise_planner"};

insert#

insert object information to the 'objects_of_interest_marker_interface' manager

using autoware::objects_of_interest_marker_interface::ColorName;
objects_of_interest_marker_interface_.insertObjectData(
    stopped_obstacle.pose, stopped_obstacle.shape, ColorName::RED);

publish#

publish object information to the rviz to visualize

objects_of_interest_marker_interface_.publishMarkerArray();