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perf(lanelet2_extension): more efficient getLinkedParkingLot #248

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perf(lanelet2_extension): more efficient getLinkedParkingLot #248

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2 changes: 1 addition & 1 deletion tmp/lanelet2_extension/include/lanelet2_extension/utility/query.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -189,7 +189,7 @@ bool getLinkedParkingLot(
lanelet::ConstPolygon3d * linked_parking_lot);
// get linked parking lot from current pose of ego car
bool getLinkedParkingLot(
const lanelet::BasicPoint2d & current_position, const lanelet::ConstPolygons3d & all_parking_lots,
const lanelet::BasicPoint2d & current_position, const lanelet::LaneletMapPtr & lanelet_map_ptr,
lanelet::ConstPolygon3d * linked_parking_lot);
// get linked parking lot from parking space
bool getLinkedParkingLot(
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19 changes: 12 additions & 7 deletions tmp/lanelet2_extension/lib/query.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -591,15 +591,20 @@

// get overlapping parking lot
bool query::getLinkedParkingLot(
const lanelet::BasicPoint2d & current_position, const lanelet::ConstPolygons3d & all_parking_lots,
const lanelet::BasicPoint2d & current_position, const lanelet::LaneletMapPtr & lanelet_map_ptr,
lanelet::ConstPolygon3d * linked_parking_lot)
{
for (const auto & parking_lot : all_parking_lots) {
const double distance =
boost::geometry::distance(current_position, to2D(parking_lot).basicPolygon());
if (distance < std::numeric_limits<double>::epsilon()) {
*linked_parking_lot = parking_lot;
return true;
const auto candidates =
lanelet_map_ptr->polygonLayer.search(lanelet::geometry::boundingBox2d(current_position));

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for (const auto & candidate : candidates) {
const std::string type = candidate.attributeOr(lanelet::AttributeName::Type, "none");
if (type == "parking_lot") {
const double distance =
boost::geometry::distance(current_position, to2D(candidate).basicPolygon());
if (distance < std::numeric_limits<double>::epsilon()) {
*linked_parking_lot = candidate;
return true;
}
}
}
return false;
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6 changes: 3 additions & 3 deletions tmp/lanelet2_extension_python/src/utility.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -209,11 +209,11 @@
}

lanelet::Optional<lanelet::ConstPolygon3d> getLinkedParkingLot(
const lanelet::BasicPoint2d & current_position, const lanelet::ConstPolygons3d & all_parking_lots)
const lanelet::BasicPoint2d & current_position, const lanelet::LaneletMapPtr lanelet_map_ptr)
{
lanelet::ConstPolygon3d linked_parking_lot;
if (lanelet::utils::query::getLinkedParkingLot(
current_position, all_parking_lots, &linked_parking_lot)) {
current_position, lanelet_map_ptr, &linked_parking_lot)) {
return linked_parking_lot;
} else {
return {};
Expand Down Expand Up @@ -506,7 +506,7 @@
const lanelet::ConstLanelet &, const lanelet::ConstPolygons3d &)>(
"getLinkedParkingLot", ::getLinkedParkingLot);
bp::def<lanelet::Optional<lanelet::ConstPolygon3d>(
const lanelet::BasicPoint2d &, const lanelet::ConstPolygons3d &)>(
const lanelet::BasicPoint2d &, const lanelet::LaneletMapPtr)>(

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"getLinkedParkingLot", ::getLinkedParkingLot);
bp::def<lanelet::Optional<lanelet::ConstPolygon3d>(
const lanelet::ConstLineString3d &, const lanelet::ConstPolygons3d &)>(
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